Publications

@article{Black2019,
title = {Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot},
author = {David Black and Sven Lilge and Carolin Fellmann and Anke V Reinschluessel and Lars Kreuer and Arya Nabavi and Horst K Hahn and Ron Kikinis and Jessica Burgner-Kahrs},
doi = {10.1142/S2424905X19500041},
year = {2019},
date = {2019-05-16},
journal = {Journal of Medical Robotics Research},
volume = {4},
number = {2},
pages = {1950004},
abstract = {Tubular continuum robots can follow complex curvilinear paths to reach restricted areas within the body. Using teleoperation, these robots can help minimize incisions and reduce trauma. However, drawbacks include the lack of haptic feedback and a limited view of the situs, often due to camera occlusion. This work presents novel auditory display to enhance interaction with such continuum robots to increase accuracy and path-following efficiency and reduce cognitive workload. We recreate a typical use case with a test environment that simulates a transnasal intervention through the sphenoidal sinus including a simulated continuum robot. Distance information is mapped to changes in a real-time audio synthesizer using sung voice to provide navigation cues. User studies with novice participants and clinicians were performed to evaluate the effects of auditory display on accuracy, task time, path following efficiency, subjective workload, and usability. When using auditory display, participants exhibit significant increase in accuracy, efficiency, and task time compared to visual-only display. Auditory display reduced subjective workload and raised usefulness and satisfaction ratings. The addition of auditory display for augmenting interaction with a teleoperated continuum robot has shown to benefit performance as well as usability. The method could benefit other scenarios in navigated surgery to increase accuracy and reduce workload.},
keywords = {concentric tube continuum robot, hri, teleoperation},
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{Chikhaoui2018b,
title = {Towards Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots},
author = {Mohamed Taha Chikhaoui and Josephine Granna and Julia Starke and Jessica Burgner-Kahrs},
doi = {10.1109/LRA.2018.2800037},
year = {2018},
date = {2018-01-31},
journal = {IEEE Robotics & Automation Letters},
volume = {3},
number = {3},
pages = {1793-1800},
abstract = {Dual-arm continuum robots have been considered mainly for teleoperation, where human perception and cognition permitted coordination, and collision-free motions. This letter describes theoretical investigations on automation of dual-arm robots constituted of two concentric tube continuum manipulators. An optimization algorithm is developed in order to improve triangulation ability of the robot and thus enhance the arms' collaborative operation. This a priori knowledge provides design directives in order to fulfill integration, reachability, and collaboration requirements. Further, automatic control is assigned to perform online safe collaboration tasks. Our initial exploration is validated with numerical simulations using robot designs based on the optimization algorithm output. The control algorithm-based on the relative Jacobian and Cosserat rod modeling-performs simultaneously with less than 1% of the total robot's length of accuracy for both relative end-effector distance control and trajectory tracking.},
keywords = {concentric tube continuum robot, control, teleoperation},
pubstate = {published},
tppubtype = {article}
}