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Byung-Ju Yi, Ph.D., Department of Electronic Systems Engineering Hanyang University, Korea

This lecture introduces some results produced by collaboration of clinicians and engineers at Hanyang University of Korea. Specifically, the ENT area is of interest. Skull-based image-guided micro robotic surgery is the main goal of this research. Three different surgical procedures will be shortly introduced.

Firstly, an image-guided robotic Mastoidectomy is presented. A human-robot collaboration control mode is used to allow the human intervention during surgery, to compensate tremor by operator, and to protect damaging the human organ on surgery. A temporal bone replica was used as the phantom of the robotic Mastoidectomy. Two different types of robotic systems for Otologic surgery are presented. Secondly, a new endoscope robot system is introduced for general sinus surgery. The proposed endoscope can be bent in accordance with a userís intension at the time of inserting the endoscope into the sinus area, and it was designed to be bent up to 180 degrees and its diameter is about 4mm. The performance of the proposed system is shown by integration of the robot device and navigation software. A dual robotic system consisting of the endoscope robot and a new 4-DOF biopsy robot is also presented. Thirdly, a new trans-oral robotic system is presented. Suspension laryngoscopy has been employed to operate on laryngeal diseases. However, many of patients suffer from secondary complications due to the use of the hard laryngoscope, and even about 11~12% of patients who donít allow the straight path anatomically cannot be operated on the surgery using laryngoscope. To cope with such a problem, Laryngeal Surgical Assistant Robot (LASAR) system is presented, which employs a curved frame as a guide to insert flexible instruments into the target legion. The performance of the proposed master-slave robotic system is shown through experimentation with a phantom laryngeal model.

Monday, February 18, 2013
3:10 p.m., 134 FGH
Refreshments at 2:40 - 3:00 p.m. in 134 FGH