{"id":154,"date":"2018-07-03T14:54:16","date_gmt":"2018-07-03T19:54:16","guid":{"rendered":"https:\/\/localhost\/rome\/?page_id=154"},"modified":"2020-06-17T10:51:53","modified_gmt":"2020-06-17T15:51:53","slug":"concentric-tube-robotic-tools-for-frontal-sinus-surgery","status":"publish","type":"page","link":"https:\/\/rome.cdm.depaul.edu\/concentric-tube-robotic-tools-for-frontal-sinus-surgery\/","title":{"rendered":"Concentric tube robotic tools for Frontal Sinus surgery"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"154\" class=\"elementor elementor-154 elementor-bc-flex-widget\">\n\t\t\t\t\t\t<div class=\"elementor-inner\">\n\t\t\t\t<div class=\"elementor-section-wrap\">\n\t\t\t\t\t\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-c41846b elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"c41846b\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t\t\t<div class=\"elementor-row\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-bbc0e2d\" data-id=\"bbc0e2d\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-576fde7 elementor-widget elementor-widget-heading\" data-id=\"576fde7\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\"><span style=\"font-weight:normal;\" id=\"docs-internal-guid-ca2b33ba-6211-63a3-abf0-b8b6ca5dfae0\"><span style=\"font-size: 12pt; font-family: Arial; color: rgb(0, 0, 0); background-color: transparent; font-weight: 700; font-style: normal; font-variant: normal; text-decoration-line: underline; text-decoration-skip-ink: none;\"> Concentric tube robotic tools for Frontal Sinus surgery<\/span><\/span><\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-dbb46df elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"dbb46df\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t\t\t<div class=\"elementor-row\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-fb74291\" data-id=\"fb74291\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-574de0e elementor-widget elementor-widget-text-editor\" data-id=\"574de0e\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p dir=\"ltr\" style=\"line-height: 1.2; margin-top: 0pt; margin-bottom: 15pt;\"><span style=\"font-size: 10pt; font-family: Arial; color: #000000; background-color: #ffffff; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">In this project, a minimally invasive, concentric tube based robotic tool is designed and evaluated for use in frontal sinus surgeries. The results showed that the proposed design has 62% better coverage of the frontal sinus space compared to the standard of care tools.<\/span><\/p><p dir=\"ltr\" style=\"line-height: 1.2; margin-top: 0pt; margin-bottom: 15pt;\"><span style=\"color: #000000; font-family: Arial; font-size: 10pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; white-space: pre-wrap;\">Research Members: Isuru Godage, Raul Wirz, Paul Russell, Madeleine Samuelson, and Robert J Webster.<\/span><\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-16f7759 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"16f7759\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t\t\t<div class=\"elementor-row\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-b162a42\" data-id=\"b162a42\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-1adc850 elementor-widget elementor-widget-text-editor\" data-id=\"1adc850\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p dir=\"ltr\" style=\"line-height: 1.2; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"color: #000000; font-family: Arial; font-size: 10pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; white-space: pre-wrap;\">The frontal sinus is a cavity situated behind the brow ridges which is an essential part of the immune defense carried out by the nose and different problems can appear in the frontal sinus requiring a surgery, such as tumors, polyps and fractures due mainly to car accidents or sport. Since the frontal sinus is a cavity difficult of reach due to the tiny space and the difficult access (Fig 1), there are different frontal sinus approaches in the surgery: From the interior, going through the nose (endonasal procedures); From the exterior, going through the skin (such as the osteoplastic flap or the Lothrop procedures); or a combined approach (interior and exterior approaches together). Exterior approaches are invasive, leave visual scars and have more physiological damage in the patient. However, considering the endonasal procedures advantages, the endonasal procedure is complicated due to the lack of tools due to the shape and the location of the frontal sinus. <\/span><\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-798c88f\" data-id=\"798c88f\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-1f6624e elementor-widget elementor-widget-image\" data-id=\"1f6624e\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-image\">\n\t\t\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"161\" height=\"199\" src=\"https:\/\/rome.cdm.depaul.edu\/wp-content\/uploads\/2018\/07\/img-40.jpg\" class=\"attachment-large size-large\" alt=\"\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-5d2aa11 elementor-widget elementor-widget-text-editor\" data-id=\"5d2aa11\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p><span style=\"font-weight: normal;\"><span style=\"font-size: 10pt; font-family: Arial; color: #000000; font-weight: 400; font-style: normal; font-variant: normal; white-space: pre-wrap;\">Fig 1: (Left) Frontal sinus space.<\/span><\/span><\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-4b3fc1e elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"4b3fc1e\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t\t\t<div class=\"elementor-row\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-6f90a01\" data-id=\"6f90a01\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-5276337 elementor-widget elementor-widget-text-editor\" data-id=\"5276337\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p dir=\"ltr\" style=\"line-height: 1.2; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"color: #000000; font-family: Arial; font-size: 10pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; white-space: pre-wrap;\">In the standard care, the surgeons use a range of rigid tools (Fig 2: left) that have different bending angles at the end. Due to the rigid nature of the tools, they can only reach around 56% of the frontal sinus (Fig 2: right). This leaves deep pockets out of reach rendering it mandatory to perform a highly invasive direct access through the forehead.<\/span><\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-be8647e elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"be8647e\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t\t\t<div class=\"elementor-row\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-439e167\" data-id=\"439e167\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-6195f55 elementor-widget elementor-widget-image\" data-id=\"6195f55\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-image\">\n\t\t\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"198\" height=\"61\" src=\"https:\/\/rome.cdm.depaul.edu\/wp-content\/uploads\/2018\/07\/img-41.jpg\" class=\"attachment-large size-large\" alt=\"\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-e02489e elementor-widget elementor-widget-text-editor\" data-id=\"e02489e\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p>\u00a0<\/p><p dir=\"ltr\" style=\"line-height: 1.2; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 10pt; font-family: Arial; color: #000000; background-color: #ffffff; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Fig 2: (Left) A couple of state of the art tools that are being used in endo-nasal sinus surgeries, (Right) the volume accessible by using the conventional rigid tools.<\/span><\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-2acce7e\" data-id=\"2acce7e\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-5a4e1af elementor-widget elementor-widget-image\" data-id=\"5a4e1af\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-image\">\n\t\t\t\t\t\t\t\t\t\t\t\t<img decoding=\"async\" src=\"https:\/\/rome.cdm.depaul.edu\/wp-content\/uploads\/2018\/07\/img-43.jpg\" title=\"img 43\" alt=\"img 43\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-3c8fd7d elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"3c8fd7d\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t\t\t<div class=\"elementor-row\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-63e428b\" data-id=\"63e428b\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-1ecab08 elementor-widget elementor-widget-text-editor\" data-id=\"1ecab08\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p dir=\"ltr\" style=\"line-height: 1.2; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"color: #000000; font-family: Arial; font-size: 10pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; white-space: pre-wrap;\">We propose a concentric tube based robotic tools. In order to find the optimal concentric tube shapes, we use a virtual reality based optimization routine couple with collision detection (Fig 3). In this approach, we interactively vary the concentric tube curvature parameters to maximize the volume reachable in the frontal sinus cavity.<\/span><\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-d1364c0 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"d1364c0\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t\t\t<div class=\"elementor-row\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-9516ec2\" data-id=\"9516ec2\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-a1eb8b5 elementor-widget elementor-widget-image\" data-id=\"a1eb8b5\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-image\">\n\t\t\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"200\" height=\"150\" src=\"https:\/\/rome.cdm.depaul.edu\/wp-content\/uploads\/2018\/07\/3ctrtffss.png\" class=\"attachment-large size-large\" alt=\"\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-c10b73e elementor-widget elementor-widget-text-editor\" data-id=\"c10b73e\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p><span id=\"docs-internal-guid-24047ede-8590-1d08-7fb2-8263824ea0f9\" style=\"font-weight: normal;\"><span style=\"font-size: 10pt; font-family: Arial; color: #000000; font-weight: 400; font-style: normal; font-variant: normal; white-space: pre-wrap;\">Fig 3: Computer model of the frontal sinus cavity (with the endo-nasal access route) with contact dynamics<\/span><\/span><\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-5fa849f\" data-id=\"5fa849f\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-428bc9e elementor-widget elementor-widget-image\" data-id=\"428bc9e\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-image\">\n\t\t\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"199\" height=\"149\" src=\"https:\/\/rome.cdm.depaul.edu\/wp-content\/uploads\/2018\/07\/img-44.png\" class=\"attachment-large size-large\" alt=\"\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-33d7799 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"33d7799\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t\t\t<div class=\"elementor-row\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-c003967\" data-id=\"c003967\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-38fa849 elementor-widget elementor-widget-text-editor\" data-id=\"38fa849\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p dir=\"ltr\" style=\"line-height: 1.2; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"color: #000000; font-family: Arial; font-size: 10pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; white-space: pre-wrap;\">The simulation results yielded that 86% of the volume can be covered by using two concentric tube tools in place of a dozen of so rigid tools. This leads to definite financial and time savings. The optimized tube parameters were then used to prototype the concentric tube tools shown in Fig 4. The tools are then experimentally evaluated in anatomically accurate frontal sinus space using NDI Aurora magnetic tracking system (Fig 5). The results confirmed the simulated results, and the complete coverage obtained through the proposed approach is shown in Fig 6.<\/span><\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-e484f46 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"e484f46\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t\t\t<div class=\"elementor-row\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-a85ba5d\" data-id=\"a85ba5d\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-7b79e7f elementor-widget elementor-widget-image-gallery\" data-id=\"7b79e7f\" data-element_type=\"widget\" data-widget_type=\"image-gallery.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-image-gallery\">\n\t\t\t<div id='gallery-1' class='gallery galleryid-154 gallery-columns-4 gallery-size-thumbnail'><figure class='gallery-item'>\n\t\t\t<div class='gallery-icon portrait'>\n\t\t\t\t<a data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-slideshow=\"7b79e7f\" data-elementor-lightbox-title=\"img44.5\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6Mjg2LCJ1cmwiOiJodHRwczpcL1wvcm9tZS5jZG0uZGVwYXVsLmVkdVwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAxOFwvMDdcL2ltZzQ0LjUucG5nIiwic2xpZGVzaG93IjoiN2I3OWU3ZiJ9\" href='https:\/\/rome.cdm.depaul.edu\/wp-content\/uploads\/2018\/07\/img44.5.png'><img loading=\"lazy\" decoding=\"async\" width=\"137\" height=\"150\" src=\"https:\/\/rome.cdm.depaul.edu\/wp-content\/uploads\/2018\/07\/img44.5-137x150.png\" class=\"attachment-thumbnail size-thumbnail\" alt=\"\" \/><\/a>\n\t\t\t<\/div><\/figure><figure class='gallery-item'>\n\t\t\t<div class='gallery-icon portrait'>\n\t\t\t\t<a data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-slideshow=\"7b79e7f\" data-elementor-lightbox-title=\"img 45\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6Mjg1LCJ1cmwiOiJodHRwczpcL1wvcm9tZS5jZG0uZGVwYXVsLmVkdVwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAxOFwvMDdcL2ltZy00NS5wbmciLCJzbGlkZXNob3ciOiI3Yjc5ZTdmIn0%3D\" href='https:\/\/rome.cdm.depaul.edu\/wp-content\/uploads\/2018\/07\/img-45.png'><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"150\" src=\"https:\/\/rome.cdm.depaul.edu\/wp-content\/uploads\/2018\/07\/img-45-150x150.png\" class=\"attachment-thumbnail size-thumbnail\" alt=\"\" \/><\/a>\n\t\t\t<\/div><\/figure>\n\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-501a8b3 elementor-widget elementor-widget-text-editor\" data-id=\"501a8b3\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p>\u00a0<\/p><p dir=\"ltr\" style=\"line-height: 1.2; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"color: #000000; font-family: Arial; font-size: 10pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; white-space: pre-wrap;\">Fig 4: Concentric tube robot prototypes<\/span><\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-db97616\" data-id=\"db97616\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-e5138be elementor-widget elementor-widget-image-gallery\" data-id=\"e5138be\" data-element_type=\"widget\" data-widget_type=\"image-gallery.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-image-gallery\">\n\t\t\t<div id='gallery-2' class='gallery galleryid-154 gallery-columns-4 gallery-size-thumbnail'><figure class='gallery-item'>\n\t\t\t<div class='gallery-icon landscape'>\n\t\t\t\t<a data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-slideshow=\"e5138be\" data-elementor-lightbox-title=\"img 47\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6Mjg4LCJ1cmwiOiJodHRwczpcL1wvcm9tZS5jZG0uZGVwYXVsLmVkdVwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAxOFwvMDdcL2ltZy00Ny5qcGciLCJzbGlkZXNob3ciOiJlNTEzOGJlIn0%3D\" href='https:\/\/rome.cdm.depaul.edu\/wp-content\/uploads\/2018\/07\/img-47.jpg'><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"133\" src=\"https:\/\/rome.cdm.depaul.edu\/wp-content\/uploads\/2018\/07\/img-47-150x133.jpg\" class=\"attachment-thumbnail size-thumbnail\" alt=\"\" \/><\/a>\n\t\t\t<\/div><\/figure><figure class='gallery-item'>\n\t\t\t<div class='gallery-icon landscape'>\n\t\t\t\t<a data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-slideshow=\"e5138be\" data-elementor-lightbox-title=\"img 46\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6Mjg3LCJ1cmwiOiJodHRwczpcL1wvcm9tZS5jZG0uZGVwYXVsLmVkdVwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAxOFwvMDdcL2ltZy00Ni5qcGciLCJzbGlkZXNob3ciOiJlNTEzOGJlIn0%3D\" href='https:\/\/rome.cdm.depaul.edu\/wp-content\/uploads\/2018\/07\/img-46.jpg'><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"133\" src=\"https:\/\/rome.cdm.depaul.edu\/wp-content\/uploads\/2018\/07\/img-46-150x133.jpg\" class=\"attachment-thumbnail size-thumbnail\" alt=\"\" \/><\/a>\n\t\t\t<\/div><\/figure>\n\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-81d16c6 elementor-widget elementor-widget-text-editor\" data-id=\"81d16c6\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p>\u00a0<\/p><p dir=\"ltr\" style=\"line-height: 1.2; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"color: #000000; font-family: Arial; font-size: 10pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; white-space: pre-wrap;\">Fig 5: The experimental validation of the concentric tube prototypes.<\/span><\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-7c6593c elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"7c6593c\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t\t\t<div class=\"elementor-row\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-84e4a81\" data-id=\"84e4a81\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-788623f elementor-widget elementor-widget-image-gallery\" data-id=\"788623f\" data-element_type=\"widget\" data-widget_type=\"image-gallery.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-image-gallery\">\n\t\t\t<div id='gallery-3' class='gallery galleryid-154 gallery-columns-4 gallery-size-large'><figure class='gallery-item'>\n\t\t\t<div class='gallery-icon landscape'>\n\t\t\t\t<a data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-slideshow=\"788623f\" data-elementor-lightbox-title=\"img 49\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6MjkwLCJ1cmwiOiJodHRwczpcL1wvcm9tZS5jZG0uZGVwYXVsLmVkdVwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAxOFwvMDdcL2ltZy00OS5qcGciLCJzbGlkZXNob3ciOiI3ODg2MjNmIn0%3D\" href='https:\/\/rome.cdm.depaul.edu\/wp-content\/uploads\/2018\/07\/img-49.jpg'><img loading=\"lazy\" decoding=\"async\" width=\"200\" height=\"123\" src=\"https:\/\/rome.cdm.depaul.edu\/wp-content\/uploads\/2018\/07\/img-49.jpg\" class=\"attachment-large size-large\" alt=\"\" \/><\/a>\n\t\t\t<\/div><\/figure><figure class='gallery-item'>\n\t\t\t<div class='gallery-icon portrait'>\n\t\t\t\t<a data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-slideshow=\"788623f\" data-elementor-lightbox-title=\"img 48\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6Mjg5LCJ1cmwiOiJodHRwczpcL1wvcm9tZS5jZG0uZGVwYXVsLmVkdVwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAxOFwvMDdcL2ltZy00OC5qcGciLCJzbGlkZXNob3ciOiI3ODg2MjNmIn0%3D\" href='https:\/\/rome.cdm.depaul.edu\/wp-content\/uploads\/2018\/07\/img-48.jpg'><img loading=\"lazy\" decoding=\"async\" width=\"179\" height=\"199\" src=\"https:\/\/rome.cdm.depaul.edu\/wp-content\/uploads\/2018\/07\/img-48.jpg\" class=\"attachment-large size-large\" alt=\"\" \/><\/a>\n\t\t\t<\/div><\/figure>\n\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-1972b20 elementor-widget elementor-widget-text-editor\" data-id=\"1972b20\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p>\u00a0<\/p><p dir=\"ltr\" style=\"line-height: 1.2; margin-top: 0pt; margin-bottom: 0pt;\">\u00a0<\/p><p dir=\"ltr\" style=\"line-height: 1.2; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"color: #000000; font-family: Arial; font-size: 10pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; white-space: pre-wrap;\">Fig 6: The volume reachable by using two concentric tube tools in frontal sinus.<\/span><\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>Concentric tube robotic tools for Frontal Sinus surgery In this project, a minimally invasive, concentric tube based robotic tool is designed and evaluated for use in frontal sinus surgeries. The results showed that the proposed design has 62% better coverage of the frontal sinus space compared to the standard of care tools. Research Members: Isuru [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_mi_skip_tracking":false,"footnotes":""},"class_list":["post-154","page","type-page","status-publish","hentry","entry"],"_links":{"self":[{"href":"https:\/\/rome.cdm.depaul.edu\/wp-json\/wp\/v2\/pages\/154","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/rome.cdm.depaul.edu\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/rome.cdm.depaul.edu\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/rome.cdm.depaul.edu\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/rome.cdm.depaul.edu\/wp-json\/wp\/v2\/comments?post=154"}],"version-history":[{"count":18,"href":"https:\/\/rome.cdm.depaul.edu\/wp-json\/wp\/v2\/pages\/154\/revisions"}],"predecessor-version":[{"id":1035,"href":"https:\/\/rome.cdm.depaul.edu\/wp-json\/wp\/v2\/pages\/154\/revisions\/1035"}],"wp:attachment":[{"href":"https:\/\/rome.cdm.depaul.edu\/wp-json\/wp\/v2\/media?parent=154"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}