Design Optimization of Soft Robotic Instruments for TORS with Anatomical Design Constraints

Zachary Flynn, Amir Hooshiar

Keywords: TORS, soft robotics, surgical robotics, design optimization

TL;DR: We varied the length and diameter of transoral robotic surgery tools under anatomical constraints and estimated their workspace. Long, slender instruments (2 mm diameter, 80 mm length) maximized workspace.

Abstract: Transoral robotic surgery (TORS) enables the minimally invasive resection of oropharyngeal tumours through the oral cavity. Current TORS tools have difficulty accessing cramped regions of the oropharynx, such as the nasopharynx and laryngopharynx, limiting surgical performance. We aimed to determine the optimal design parameters of tendon-driven TORS instruments that maximize surgical workspace. The tool was modeled as a variable-curvature, non-extendible planar rod constrained by anatomical boundaries, with tendon tensions and base positions varied to generate tip poses for workspace estimation. Design parameters were limited to instrument length and diameter, and a full-factorial experiment was performed. Results indicate that long, slender tools (2 mm diameter, 80 mm length) achieved the largest workspace within the oropharynx (4989 mm²) and enabled access to both the nasopharynx and laryngopharynx.

Submission Number: 31