2022
A Hybrid Concentric Tube Robot for Cholesteatoma Laser Surgery
Dang-Viet-Anh Nguyen, Cédric Girerd, Quentin Boyer, Patrick Rougeot, Olivier Lehmann, Laurent Tavernier +2
RA-L 2022
This letter presents a hybrid concentric tube robot which covers the middle ear volume for exhaustive ablation of residual cholesteatoma. The proposed robotic system combines a concentric tube robot and a wrist at the distal end, actuated by a tendon. We first introduce the surgical protocol through