Publications

@article{Granna2018,
title = {Computer-assisted planning for a concentric tube robotic system in neurosurgery},
author = {Josephine Granna and Arya Nabavi and Jessica Burgner-Kahrs},
doi = {10.1007/s11548-018-1890-8},
year = {2019},
date = {2019-02-14},
journal = {International Journal of Computer Assisted Radiology and Surgery},
volume = {14},
number = {2},
pages = {335--344},
abstract = {Purpose: Laser-induced thermotherapy in the brain is a minimally invasive procedure to denature tumor tissue. However, irregularly shaped brain tumors cannot be treated using existing commercial systems. Thus, we present a new concept for laser-induced thermotherapy using a concentric tube robotic system. The planning procedure is complex and consists of the optimal distribution of thermal laser ablations within a volume as well as design and configuration parameter optimization of the concentric tube robot.

Methods: We propose a novel computer-assisted planning procedure that decomposes the problem into task- and robot-specific planning and uses a multi-objective particle swarm optimization algorithm with variable length.

Results: The algorithm determines a Pareto-front of optimal ablation distributions for three patient datasets. It considers multiple objectives and determines optimal robot parameters for multiple trajectories to access the tumor volume.

Conclusions: We prove the effectiveness of our planning procedure to enable the treatment of irregularly shaped brain tumors. Multiple trajectories further increase the applicability of the procedure.},
keywords = {computational design, concentric tube continuum robot, minimally-invasive surgery, planning, Surgery},
pubstate = {published},
tppubtype = {article}
}

@article{Friedrich2018,
title = {Teleoperated Tubular Continuum Robots for Transoral Surgery - Feasibility in a Porcine Larynx Model},
author = {D T Friedrich and V Modes and T K Hoffmann and J Greve and P J Schuler and J Burgner-Kahrs},
doi = {10.1002/rcs.1928},
year = {2018},
date = {2018-06-28},
journal = {International Journal of Medical Robotics and Computer Assisted Surgery},
volume = {14},
number = {5},
pages = {e1928 (7pages)},
abstract = {Background
Evidence suggests that transoral robot‐assisted surgery is becoming increasingly common, yet current systems are incapable of sufficiently reaching the glottis or subglottic areas. This paper presents a teleoperated tubular continuum robot prototype for laryngeal surgery in a feasibility study.

Methods
A tubular continuum robot prototype is used to perform basic surgical examination in five ex vivo porcine laryngeal specimens. Standard imaging and tooling were integrated and evaluated to improve the system for future application in humans.

Results
Access to and application of the tubular continuum robot in the porcine larynx is feasible. Visualization of and accessibility to all structures of interest were successfully achieved, and minor surgical procedures such as biopsies could be performed.

Conclusions
Despite proven feasibility, there is a need for further improvements. A version with dual robot arms would be essential to realize a pre‐market prototype for further investigation in a human model.},
keywords = {concentric tube continuum robot, hri, minimally-invasive surgery, Surgery, teleoperation},
pubstate = {published},
tppubtype = {article}
}

@article{Swaney2017,
title = {Design, Fabrication, and Testing of a Needle-Sized Wrist for Surgical Instruments},
author = {Philip J Swaney and Peter A York and Hunter B Gilbert and Jessica Burgner-Kahrs and Robert J Webster III},
doi = {10.1115/1.4034575},
year = {2017},
date = {2017-03-11},
journal = {Journal of Medical Devices},
volume = {11},
number = {1},
pages = {014501 (9 pages)},
abstract = {This paper presents a miniature wrist that can be integrated into needle-sized surgical instruments. The wrist consists of a nitinol tube with asymmetric cutouts that is actuated by a single tendon to provide high distal curvature. We derive and experimentally validate kinematic and static models for the wrist and describe several prototype wrists, illustrating the straightforward fabrication and scalability of the design. We experimentally investigate fatigue life, the concept of tip-first bending, and practical use of the wrist with a concentric tube robot in an endonasal surgical scenario.},
keywords = {design, minimally-invasive surgery, Robotics, Surgery, tendon actuated},
pubstate = {published},
tppubtype = {article}
}

@article{Burgner-Kahrs2017b,
title = {How Can the Characteristics of Continuum Robots Be Optimized for a Specific Medical Application?},
author = {J Burgner-Kahrs},
url = {https://lt.org/publication/how-can-characteristics-continuum-robots-be-optimized-specific-medical-application},
doi = {10.21036/LTPUB10324},
issn = {25105183},
year = {2017},
date = {2017-01-01},
journal = {Latest Thinking},
keywords = {computational design, concentric tube continuum robot, continuum robot, design, minimally-invasive surgery, Surgery},
pubstate = {published},
tppubtype = {article}
}

@article{Schneider2013,
title = {Robotic surgery for the sinuses and skull base: What are the possibilities and what are the obstacles?},
author = {John S Schneider and Jessica Burgner and Robert J {Webster III} and Paul T Russell},
url = {http://www.ncbi.nlm.nih.gov/pubmed/23299117},
doi = {10.1097/MOO.0b013e32835bc650},
year = {2013},
date = {2013-01-01},
journal = {Current Opinion in Otolaryngology & Head and Neck Surgery},
volume = {21},
number = {1},
pages = {11--16},
abstract = {PURPOSE OF REVIEW: Robotic surgery in otolaryngology - head and neck surgery has become a valuable tool in certain anatomic approaches; however, its application in surgery of the paranasal sinuses and anterior skull base is still in an investigatory phase and requires further evaluation.$backslash$n$backslash$nRECENT FINDINGS: Existing robotic surgical systems face particular limitations in their application at the skull base because of instrument size and lack of variability. Unfortunately, only one system is available commercially that is applicable in the head and neck region and FDA approved for use in patients. This system, although advantageous in many otolaryngologic procedures, is difficult to use for endoscopic sinus and skull base surgery. However, other systems that target this anatomic subsite specifically are in development and show promise. Advances in the design of robotic arms, materials, and shape will potentially give surgeons a significant advantage over traditional endoscopic techniques.$backslash$n$backslash$nSUMMARY: This article will review the current applications of robotic systems in paranasal sinus and skull base surgery, describe the requirements of a robotic system for use in this type of surgery, and describe a system under development at our institution.},
keywords = {Robotics, Surgery},
pubstate = {published},
tppubtype = {article}
}

@article{Kahrs2010,
title = {Planning and simulation of microsurgical laser bone ablation.},
author = {Lüder A Kahrs and Jessica Burgner and Thomas Klenzner and Jörg Raczkowsky and Jörg Schipper and Heinz Wörn},
doi = {10.1007/s11548-009-0303-4},
year = {2010},
date = {2010-01-01},
journal = {International Journal of Computer Assisted Radiology and Surgery},
volume = {5},
number = {2},
pages = {155--162},
abstract = {PURPOSE: Laser ablation of hard tissue is not completely understood until now and not modeled for computer-assisted microsurgery. A precise planning and simulation is an essential step toward the usage of microsurgical laser bone ablation in the operating room. METHODS: Planning the volume for laser bone ablation is based on geometrical definitions. Shape and volume of the removed bone by single laser pulses were measured with a confocal microscope for modeling the microsurgical ablation. To remove the planned volume and to achieve smooth surfaces, a simulation of the laser pulse distribution is developed. RESULTS: The confocal measurements show a clear dependency from laser energy and resulting depth. Two-dimensional Gaussian functions are fitting in these craters. Exemplarily three ablation layers were planned, simulated, executed and verified. CONCLUSIONS: To model laser bone ablation in microsurgery the volume and shape of each laser pulse should be known and considered in the process of ablation planning and simulation.},
keywords = {Microsurgery, Osteotomy, Surgery},
pubstate = {published},
tppubtype = {article}
}