{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,3]],"date-time":"2026-04-03T06:53:13Z","timestamp":1775199193810,"version":"3.50.1"},"reference-count":15,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2024,3,15]],"date-time":"2024-03-15T00:00:00Z","timestamp":1710460800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":["aao-hnsfjournals.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Otolaryngol.--head neck surg."],"published-print":{"date-parts":[[2024,7]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:sec><jats:title>Objective<\/jats:title><jats:p>Use microscopic video\u2010based tracking of laryngeal surgical instruments to investigate the effect of robot assistance on instrument tremor.<\/jats:p><\/jats:sec><jats:sec><jats:title>Study Design<\/jats:title><jats:p>Experimental trial.<\/jats:p><\/jats:sec><jats:sec><jats:title>Setting<\/jats:title><jats:p>Tertiary Academic Medical Center.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>In this randomized cross\u2010over trial, 36 videos were recorded from 6 surgeons performing left and right cordectomies on cadaveric pig larynges. These recordings captured 3 distinct conditions: without robotic assistance, with robot\u2010assisted scissors, and with robot\u2010assisted graspers. To assess tool tremor, we employed computer vision\u2010based algorithms for tracking surgical tools. Absolute tremor bandpower and normalized path length were utilized as quantitative measures. Wilcoxon rank sum exact tests were employed for statistical analyses and comparisons between trials. Additionally, surveys were administered to assess the perceived ease of use of the robotic system.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>Absolute tremor bandpower showed a significant decrease when using robot\u2010assisted instruments compared to freehand instruments (<jats:italic>P<\/jats:italic>\u2009=\u2009.012). Normalized path length significantly decreased with robot\u2010assisted compared to freehand trials (<jats:italic>P<\/jats:italic>\u2009=\u2009.001). For the scissors, robot\u2010assisted trials resulted in a significant decrease in absolute tremor bandpower (<jats:italic>P<\/jats:italic>\u2009=\u2009.002) and normalized path length (<jats:italic>P<\/jats:italic>\u2009&lt;\u2009.001). For the graspers, there was no significant difference in absolute tremor bandpower (<jats:italic>P<\/jats:italic>\u2009=\u2009.4), but there was a significantly lower normalized path length in the robot\u2010assisted trials (<jats:italic>P<\/jats:italic>\u2009=\u2009.03).<\/jats:p><\/jats:sec><jats:sec><jats:title>Conclusion<\/jats:title><jats:p>This study demonstrated that computer\u2010vision\u2010based approaches can be used to assess tool motion in simulated microlaryngeal procedures. The results suggest that robot assistance is capable of reducing instrument tremor.<\/jats:p><\/jats:sec>","DOI":"10.1002\/ohn.714","type":"journal-article","created":{"date-parts":[[2024,3,16]],"date-time":"2024-03-16T02:17:54Z","timestamp":1710555474000},"page":"188-196","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Tremor Assessment in Robot\u2010Assisted Microlaryngeal Surgery Using Computer Vision\u2010Based Tool Tracking"],"prefix":"10.1002","volume":"171","author":[{"given":"Sue M.","family":"Cho","sequence":"first","affiliation":[{"name":"Department of Computer Science Johns Hopkins Baltimore Maryland USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4506-4393","authenticated-orcid":false,"given":"Henry H.","family":"Joo","sequence":"additional","affiliation":[{"name":"Department of Otolaryngology\u2013Head &amp; Neck Surgery Johns Hopkins Baltimore Maryland USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pranathi","family":"Golla","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Johns Hopkins Baltimore Maryland USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Manish","family":"Sahu","sequence":"additional","affiliation":[{"name":"Department of Computer Science Johns Hopkins Baltimore Maryland USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ahjeetha","family":"Shankar","sequence":"additional","affiliation":[{"name":"Department of Otolaryngology\u2013Head &amp; Neck Surgery Johns Hopkins Baltimore Maryland USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Danielle R.","family":"Trakimas","sequence":"additional","affiliation":[{"name":"Department of Otolaryngology\u2013Head &amp; Neck Surgery Johns Hopkins Baltimore Maryland USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Francis","family":"Creighton","sequence":"additional","affiliation":[{"name":"Department of Otolaryngology\u2013Head &amp; Neck Surgery Johns Hopkins Baltimore Maryland USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lee","family":"Akst","sequence":"additional","affiliation":[{"name":"Department of Otolaryngology\u2013Head &amp; Neck Surgery Johns Hopkins Baltimore Maryland USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Russell H.","family":"Taylor","sequence":"additional","affiliation":[{"name":"Department of Computer Science Johns Hopkins Baltimore Maryland USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7221-9883","authenticated-orcid":false,"given":"Deepa","family":"Galaiya","sequence":"additional","affiliation":[{"name":"Department of Otolaryngology\u2013Head &amp; Neck Surgery Johns Hopkins Baltimore Maryland USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2024,3,15]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.anl.2015.06.013"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1460-9592.2009.03003.x"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1002\/lary.26667"},{"key":"e_1_2_8_5_1","unstructured":"OldsKC.\u00a0Robotic Assistant Systems for Otolaryngology\u2010Head and Neck Surgery. 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