Towards clinical application of continuum active micro-endoscope robot based on EAP actuation. - Archive ouverte HAL Access content directly
Conference Papers Year : 2014

Towards clinical application of continuum active micro-endoscope robot based on EAP actuation.

Abstract

Continuum robots have shown astounding abilities in the medical field as numerous robotized devices have emerged. For instance, colonoscopes, arthroscopes, catheters, endoscopes, and other medical tools have been developed. Their ability to navigate through complex anatomy and narrow spaces represent the attractive features of continuum robots. We foresee to improve their usefulness for Minimally Invasive Surgery (MIS) and Natural Orifice Transluminal Endoscopic Surgery (NOTES). These robots may be downscaled depending on the target application, e.g., from endoscopy to neurosurgery. Shorter hospital stay, less pain and scarring, and quicker recovery might then be provided to the patient. Recently, active cannulas have been used for endonasal skull base surgery for pituitary gland cancer as depicted in Figure 1a, transurethral laser prostate surgery, laser surgery, beating heart surgery, and neurosurgery. Thus, we are interested in developing a micro-endoscope whether for diagnosis or laser surgery

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hal-01313481 , version 1 (10-05-2016)

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  • HAL Id : hal-01313481 , version 1

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Mohamed Taha Chikhaoui, Kanty Rabenorosoa, Nicolas Andreff. Towards clinical application of continuum active micro-endoscope robot based on EAP actuation.. SURGETICA 2014 "Gestes médico-chirurgicaux assistés par ordinateur: problèmes scientifiques, outils et applications cliniques", Dec 2014, Chambéry, France. pp.1-4. ⟨hal-01313481⟩
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