FASTR: Flexible Articulating Surgical Transoral Robot

Parks, Cole; Gagliardi, Mark; Govani, Samay; Beausoleil, Chase

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FASTR: Flexible Articulating Surgical Transoral Robot

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Transoral Robotic Surgery (TORS) is a promising minimally invasive approach for the treatment and removal of microlaryngeal tumors, offering enhanced precision and reduced clinician fatigue over manual methods. The Da Vinci Single Port Surgical System is the only commercially available and FDA-approved robotic system for TORS. However, the high cost and remote center of motion limit the widespread adoption of the Da Vinci system. To provide an enhanced method for laryngeal surgery, a new system is required to perform TORS in the glottis region of the larynx where the workspace is constrained and the surgical tools need to be inserted orally. In this paper, we present FASTR, a novel robotic system for TORS that is more cost-effective and less invasive than the Da Vinci system. The proposed system consists of two sub-systems: a 3-DOF robot consisting of two cylindrical tubes connected by a cable-driven flexible joint, and concentric tube continuum robots that sit inside the tubes of the 3-DOF robot. The 3-DOF robot is used to position the concentric tube continuum robots in the desired surgical workspace while the concentric tube continuum robots hold the surgical tools and provide the necessary dexterity for the surgical procedure.

This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

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