naa a22 4500 510807194 CHVBK 20180411083423.0 cr unu---uuuuu 180411e20131101xx s 000 0 eng 10.1007/s11548-013-0839-1 doi (NATIONALLICENCE)springer-10.1007/s11548-013-0839-1 Innovative endoscopic sino-nasal and anterior skull base robotics [Elektronische Daten] [Vincent Trévillot, Rafael Sobral, Etienne Dombre, Philippe Poignet, Benoît Herman, Louis Crampette] Purpose : Design a compact, ergonomic, and safe endoscope positionerdedicated to the sino-nasal tract, and the anterior and middle-stage skull base. Methods : A motion and force analysis of the surgeon's movement was performed on cadaver heads to gather objective data for specification purposes. An experimental comparative study was then performed with three different kinematics, again on cadaver heads, in order to define the best architecture satisfying the motion and force requirements. Results : We quantified the maximal forces applied on the endoscope when traversing the sino-nasal tract in order to evaluate the forces that the robot should be able to overcome. We also quantified the minimal forces that should not be exceeded in order to avoid damaging vital structures. We showed that the entrance point of the endoscope into the nostril could not be considered, as in laparoscopic surgery, as a fixed point but rather as a fixed region whose location and dimensions depend on the targeted sinus. Conclusion : From the safety and ergonomic points of view, the best solution would be a co-manipulated standard 6-degree of freedom robot to which is attached a gimbal-like passive remote manipulator holding the endoscope. CARS, 2013 Skull base surgery nationallicence Surgical robotics nationallicence Movement analysis nationallicence Co-manipulation nationallicence Robot design nationallicence Trévillot Vincent LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada, 34095, Montpellier Cedex 05, France aut Sobral Rafael LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada, 34095, Montpellier Cedex 05, France aut Dombre Etienne LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada, 34095, Montpellier Cedex 05, France aut Poignet Philippe LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada, 34095, Montpellier Cedex 05, France aut Herman Benoît CEREM, iMMC, Université catholique de Louvain, FRS-FNRS, Louvain-la-Neuve, Belgium aut Crampette Louis Service d'ORL, Hôpital Gui de Chauliac, Centre Hospitalier Régional Universitaire de Montpellier, 80 avenue Augustin Fliche, 34000, Montpellier, France aut International Journal of Computer Assisted Radiology and Surgery Springer Berlin Heidelberg 8/6(2013-11-01), 977-987 1861-6410 8:6<977 2013 8 11548 https://doi.org/10.1007/s11548-013-0839-1 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s11548-013-0839-1 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Trévillot Vincent LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada, 34095, Montpellier Cedex 05, France aut NATIONALLICENCE 700 1- Sobral Rafael LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada, 34095, Montpellier Cedex 05, France aut NATIONALLICENCE 700 1- Dombre Etienne LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada, 34095, Montpellier Cedex 05, France aut NATIONALLICENCE 700 1- Poignet Philippe LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada, 34095, Montpellier Cedex 05, France aut NATIONALLICENCE 700 1- Herman Benoît CEREM, iMMC, Université catholique de Louvain, FRS-FNRS, Louvain-la-Neuve, Belgium aut NATIONALLICENCE 700 1- Crampette Louis Service d'ORL, Hôpital Gui de Chauliac, Centre Hospitalier Régional Universitaire de Montpellier, 80 avenue Augustin Fliche, 34000, Montpellier, France aut NATIONALLICENCE 773 0- International Journal of Computer Assisted Radiology and Surgery Springer Berlin Heidelberg 8/6(2013-11-01), 977-987 1861-6410 8:6<977 2013 8 11548 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer