Fiche publication
Date publication
juin 2018
Journal
Annals of biomedical engineering
Auteurs
Membres identifiés du Cancéropôle Est :
Dr PAZART Lionel
,
Pr RENAUD Pierre
,
Pr HAFFEN Emmanuel
,
Pr ANDREFF Nicolas
,
Mr LIHOREAU Thomas
Tous les auteurs :
Girerd C, Lihoreau T, Rabenorosoa K, Tamadazte B, Benassarou M, Tavernier L, Pazart L, Haffen E, Andreff N, Renaud P
Lien Pubmed
Résumé
Inspecting the olfactory cleft can be of high interest, as it is an open access to neurons, and thus an opportunity to collect in situ related data in a non-invasive way. Also, recent studies show a strong link between olfactory deficiency and neurodegenerative diseases such as Alzheimer and Parkinson diseases. However, no inspection of this area is possible today, as it is very difficult to access. Only robot-assisted interventions seem viable to provide the required dexterity. The feasibility of this approach is demonstrated in this article, which shows that the path complexity to the olfactory cleft can be managed with a concentric tube robot (CTR), a particular type of continuum robot. First, new anatomical data are elaborated, in particular for the olfactory cleft, that remains hardly characterized. 3D reconstructions are conducted on the database of 20 subjects, using CT scan images. Measurements are performed to describe the anatomy, including metrics with inter-subject variability. Then, the existence of collision-free passageways for CTR is shown using the 3D reconstructions. Among the 20 subjects, 19 can be inspected using only 3 different robot geometries. This constitutes an essential step towards a robotic device to inspect subjects for clinical purposes.
Mots clés
Continuum robot, ENT, OCT, Olfactory epithelium, Robot-assisted intervention
Référence
Ann Biomed Eng. 2018 Jun 19;:
