Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery
CoRR(2024)
摘要
Skull base surgery is a demanding field in which surgeons operate in and
around the skull while avoiding critical anatomical structures including nerves
and vasculature. While image-guided surgical navigation is the prevailing
standard, limitation still exists requiring personalized planning and
recognizing the irreplaceable role of a skilled surgeon. This paper presents a
collaboratively controlled robotic system tailored for assisted drilling in
skull base surgery. Our central hypothesis posits that this collaborative
system, enriched with haptic assistive modes to enforce virtual fixtures, holds
the potential to significantly enhance surgical safety, streamline efficiency,
and alleviate the physical demands on the surgeon. The paper describes the
intricate system development work required to enable these virtual fixtures
through haptic assistive modes. To validate our system's performance and
effectiveness, we conducted initial feasibility experiments involving a medical
student and two experienced surgeons. The experiment focused on drilling around
critical structures following cortical mastoidectomy, utilizing dental stone
phantom and cadaveric models. Our experimental results demonstrate that our
proposed haptic feedback mechanism enhances the safety of drilling around
critical structures compared to systems lacking haptic assistance. With the aid
of our system, surgeons were able to safely skeletonize the critical structures
without breaching any critical structure even under obstructed view of the
surgical site.
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