Compliant and Flexible Robotic System with Parallel Continuum Mechanism for Transoral Surgery: A Pilot Cadaveric Study

As one of the minimally invasive surgeries (MIS), transoral robotic surgery (TORS) contributes to excellent oncological and functional outcomes. This paper introduces a compliant flexible system for surgery, consisting an execution part with parallel mechanisms positioning continuum structure. A pilot cadaveric study that mimics procedure TORS using intact human head was conducted evaluate feasibility efficiency this system. Both initial setup time cost by robot safely access deep surgical area in upper aerodigestive tract are shortened due enlarged workspace, compact structure, increased flexibility. The proposed is preliminarily demonstrated be feasible TORS, especially in-depth sites tract.