The objective of this project is to design and build an at-scale continuum robot to enhance a physician’s dexterity in minimally invasive endoscopic surgery to treat laryngeal tumors. Laryngeal tumors are common, yet challenging to treat endoscopically due to the lack of articulation in commercially available surgical instruments. Teaming up with a physician at Brigham and Women’s Hospital, we designed and constructed an integrated device with a needle-sized, steerable laser sheath to make formerly untreatable tumors accessible and operable. We also present the design and construction of an actuation unit capable of providing three degrees of freedom: rotation, translation, and distal tip bending. The system encompasses a steerable wrist, control panel, and actuation module that directly integrates with the endoscopic handle currently being used by physicians.

• 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.

Creator

• Abell, Phillip B.
• Johnson, Samuel Q.
• Liu, Sabrina T.

Subject

• Innovation
• Health
• Project-Based Learning

Publisher

• Worcester Polytechnic Institute

Identifier

• 18681
• E-project-042721-100759

Keyword

• medical device
• robotics

Advisor

• Liu, Yuxiang
• Fichera, Loris

Year

• 2021

Sponsor

• NIH

Date created

• 2021-04-27

Resource type

• Major Qualifying Project

Major

• Robotics Engineering

Rights statement

• In Copyright