{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,29]],"date-time":"2026-09-29T09:07:42Z","timestamp":1790672862477,"version":"4.1.0"},"reference-count":45,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2018,6,20]],"date-time":"2018-06-20T00:00:00Z","timestamp":1529452800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Robotics Computer Surgery"],"published-print":{"date-parts":[[2018,10]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:sec><jats:title>Background<\/jats:title><jats:p>Evidence suggests that transoral robot\u2010assisted surgery is becoming increasingly common, yet current systems are incapable of sufficiently reaching the glottis or subglottic areas. This paper presents a teleoperated tubular continuum robot prototype for laryngeal surgery in a feasibility study.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>A tubular continuum robot prototype is used to perform basic surgical examination in five <jats:italic>ex vivo<\/jats:italic> porcine laryngeal specimens. Standard imaging and tooling were integrated and evaluated to improve the system for future application in humans.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>Access to and application of the tubular continuum robot in the porcine larynx is feasible. Visualization of and accessibility to all structures of interest were successfully achieved, and minor surgical procedures such as biopsies could be performed.<\/jats:p><\/jats:sec><jats:sec><jats:title>Conclusions<\/jats:title><jats:p>Despite proven feasibility, there is a need for further improvements. A version with dual robot arms would be essential to realize a pre\u2010market prototype for further investigation in a human model.<\/jats:p><\/jats:sec>","DOI":"10.1002\/rcs.1928","type":"journal-article","created":{"date-parts":[[2018,6,20]],"date-time":"2018-06-20T08:08:00Z","timestamp":1529482080000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":19,"title":["Teleoperated tubular continuum robots for transoral surgery \u2013 feasibility in a porcine larynx model"],"prefix":"10.1002","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8093-3462","authenticated-orcid":false,"given":"D.T.","family":"Friedrich","sequence":"first","affiliation":[{"name":"Department of Oto\u2010Rhino\u2010Laryngology, Head and Neck Surgery Ulm University Medical Center  Ulm Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"V.","family":"Modes","sequence":"additional","affiliation":[{"name":"Laboratory for Continuum Robotics Leibniz Universit\u00e4t Hannover  Hanover Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"T.K.","family":"Hoffmann","sequence":"additional","affiliation":[{"name":"Department of Oto\u2010Rhino\u2010Laryngology, Head and Neck Surgery Ulm University Medical Center  Ulm Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"J.","family":"Greve","sequence":"additional","affiliation":[{"name":"Department of Oto\u2010Rhino\u2010Laryngology, Head and Neck Surgery Ulm University Medical Center  Ulm Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"P.J.","family":"Schuler","sequence":"additional","affiliation":[{"name":"Department of Oto\u2010Rhino\u2010Laryngology, Head and Neck Surgery Ulm University Medical Center  Ulm Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"J.","family":"Burgner\u2010Kahrs","sequence":"additional","affiliation":[{"name":"Laboratory for Continuum Robotics Leibniz Universit\u00e4t Hannover  Hanover Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2018,6,20]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.1744"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1089\/lap.2005.15.647"},{"key":"e_1_2_9_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijsu.2015.11.022"},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-43580-0_15"},{"key":"e_1_2_9_6_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00405-012-2217-y"},{"key":"e_1_2_9_7_1","doi-asserted-by":"publisher","DOI":"10.1002\/lary.21059"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1002\/hed.24360"},{"key":"e_1_2_9_9_1","doi-asserted-by":"publisher","DOI":"10.1089\/lap.2010.0350"},{"key":"e_1_2_9_10_1","doi-asserted-by":"publisher","DOI":"10.1002\/lary.23287"},{"key":"e_1_2_9_11_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11864-016-0405-5"},{"key":"e_1_2_9_12_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00405-016-4425-3"},{"key":"e_1_2_9_13_1","doi-asserted-by":"publisher","DOI":"10.1002\/lary.23294"},{"key":"e_1_2_9_14_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-43580-0_16"},{"key":"e_1_2_9_15_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11912-016-0541-x"},{"key":"e_1_2_9_16_1","doi-asserted-by":"publisher","DOI":"10.1002\/lary.24443"},{"key":"e_1_2_9_17_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00405-017-4498-7"},{"key":"e_1_2_9_18_1","doi-asserted-by":"publisher","DOI":"10.1002\/hed.24611"},{"key":"e_1_2_9_19_1","doi-asserted-by":"publisher","DOI":"10.1002\/lary.24957"},{"key":"e_1_2_9_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2489500"},{"key":"e_1_2_9_21_1","first-page":"562","article-title":"Real\u2010time position control of concentric tube robots","volume":"2010","author":"Dupont PE","year":"2010","journal-title":"IEEE Int Conf Robot Autom"},{"key":"e_1_2_9_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2265804"},{"key":"e_1_2_9_23_1","doi-asserted-by":"publisher","DOI":"10.1097\/MOO.0b013e32835bc650"},{"key":"e_1_2_9_24_1","doi-asserted-by":"publisher","DOI":"10.1161\/CIRCINTERVENTIONS.112.000324"},{"key":"e_1_2_9_25_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915585397"},{"key":"e_1_2_9_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2062570"},{"key":"e_1_2_9_27_1","doi-asserted-by":"crossref","unstructured":"RuckerDC WebsterRJ.Computing Jacobians and compliance matrices for externally loaded continuum robots. 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