ArticleIEEE robotics and automation letters2024
Autonomous System for Tumor Resection (ASTR) - Dual-Arm Robotic Midline Partial Glossectomy.
Article in IEEE robotics and automation letters, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
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Who cites it
6 citing papers in PubMed, 16 citations in OpenAlex.
- Stable Tracking-in-the-Loop Control of Cable-Driven RCM Surgical Manipulators under Erroneous Kinematic Chains.IEEE robotics and automation letters · 2026Article
- Multimodal Cross-Attention Fusion of B-Mode Ultrasound and Strain Elastography for Tumor Segmentation in Robotics-Assisted Surgery.IEEE transactions on medical robotics and bionics · 2026Article
- Autonomous Closed-Loop Control for Robotic Soft Tissue Electrosurgery Using RGB-D Image Guidance.IEEE transactions on medical robotics and bionics · 2025Article
- Evaluation of a new developed robotic system for head and neck surgery: a prospective study.Gland surgery · 2025Article
- A Confidence-Based Shared Control Strategy for Robotic Electrosurgery.IEEE transactions on medical robotics and bionics · 2025Article
- Enhancing Surgical Precision in Autonomous Robotic Incisions via Physics-Based Tissue Cutting Simulation.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2024Article
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Authors and funding
8 authors at 3 institutions in 1 country.
Funding
Abstract
Head and neck cancers are the seventh most common cancers worldwide, with squamous cell carcinoma being the most prevalent histologic subtype. Surgical resection is a primary treatment modality for many patients with head and neck squamous cell carcinoma, and accurately identifying tumor boundaries and ensuring sufficient resection margins are critical for optimizing oncologic outcomes. This study presents an innovative autonomous system for tumor resection (ASTR) and conducts a feasibility study by performing supervised autonomous midline partial glossectomy for pseudotumor with millimeter accuracy. The proposed ASTR system consists of a dual-camera vision system, an electrosurgical instrument, a newly developed vacuum grasping instrument, two 6-DOF manipulators, and a novel autonomous control system. The letter introduces an ontology-based research framework for creating and implementing a complex autonomous surgical workflow, using the glossectomy as a case study. Porcine tongue tissues are used in this study, and marked using color inks and near-infrared fluorescent (NIRF) markers to indicate the pseudotumor. ASTR actively monitors the NIRF markers and gathers spatial and color data from the samples, enabling planning and execution of robot trajectories in accordance with the proposed glossectomy workflow. The system successfully performs six consecutive supervised autonomous pseudotumor resections on porcine specimens. The average surface and depth resection errors measure 0.73±0.60
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Registered trials
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