Skip to main content
Log in

Suspension laryngoscopy using a curved-frame trans-oral robotic system

  • Original Article
  • Published:
International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript



Suspension laryngoscopy has been employed for laryngeal diseases such as treatment for a polyp, cystoma, or granuloma. After securing a straight path with a laryngoscope, the surgeon inserts rigid instruments and examines the target lesion by using a microscope. However, many patients suffer from secondary complications due to the use of a rigid laryngoscope. In addition, about 11–12 % of patients cannot be operated on using laryngoscope because of anatomical restrictions. A surgical method to treat patients using a curved-frame trans-oral robotics system was developed.


A new surgical procedure is investigated using a new surgical robot system that employs a curved frame as a guide to insert flexible instruments into the target lesion. For this, a master–slave robotic system was developed, and the performance of the proposed procedure was tested by using a phantom laryngeal model.


A routine laryngeal polypectomy procedure was simulated and performed using flexible instruments guided by a master–slave surgical robot in suspension laryngoscopy.


A surgical robotic system was able to perform routine procedures to remove a polyp in the vocal cord under clinically realistic conditions on an adult phantom.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9

Similar content being viewed by others


  1. Xidong C, Xia Z, Chenjie X, Wenhong Y, Huichang Y, Jiaqi J (2012) Management of difficult suspension laryngoscopy using a GlideScope\(\textregistered \) Video Laryngoscope. Arch Otolaryngol 132:1318–1323

    Article  Google Scholar 

  2. Mc Leod IK, Mair EA, Melder PC (2005) Potential applications of the Da Vinci minimally invasive surgical robotic system in otolaryngology. Ear Nose Throat J 84:483–487

    Google Scholar 

  3. Hockstein et al (2005) Robot-assisted pharyngeal and laryngeal microsurgery: results of robotic cadaver dissections. Laryngoscope J 115:1003–1008

    Article  Google Scholar 

  4. Weinstein GS, O’Malley BW Jr, Hockstein NG (2005) Transoral robotic surgery: supraglottic laryngectomy in a canine model. Laryngoscope J 115:1315–1319

    Article  Google Scholar 

  5. O’Malley BW Jr, Weinstein GS, Hockstein NG (2006) Transoral robotic surgery (TORS): glottic microsurgery in a canine model. J Voice 20:263–268

    Article  PubMed  Google Scholar 

  6. Weinstein et al (2007) Transoral robotic surgery: radical tonsillectomy. Arch Otolaryngol Head Neck Surg 113:1220–1226

    Article  Google Scholar 

  7. O’Malley BW Jr, Weinstein GS, Snyder W, Hockstein NG (2006) Transoral robotic surgery (TORS) for base of tongue neoplasms. Laryngoscope J 116:1465–1472

    Article  Google Scholar 

  8. Weinstein GS et al (2007) Transoral robotic surgery: supraglottic partial laryngectomy. Ann Otol Rhinol Laryngol J 116:19–23

    Google Scholar 

  9. Park YM, Kim WS, Byeon HK, De Virgilio A, Jung JS, Kim SH (2010) Feasibility of transoral robotic hypopharyngectomy for early-stage hypopharyngeal carcinoma. Oral Oncol J 46:597–602

    Article  Google Scholar 

  10. Park YM, Lee WJ, Lee JG, Lee WS, Choi EC, Chung SM, Kim SH (2009) Transoral robotic surgery (TORS) in laryngeal and hypopharyngeal cancer. J Laparoendosc Adv Surg Tech A 19:361–368

    Google Scholar 

  11. Park YM, Kim WS, De Virgilio A, Lee SY, Seol JH, Kim SH (2012) Transoral robotic surgery for hypopharyngeal squamous cell carcinoma: 3-year oncologic and functional analysis. Oral Oncol J 48:560–566

    Article  Google Scholar 

  12. Ikuta K, Hasegawa T, Daifu S (2003) Hyper redundant miniature manipulator Hyper Finger for remote minimally invasive surgery in deep area. In: Proc IEEE Int Conf Robot Autom, pp 1098–1102

  13. Simaan N, Xu K, Wei W, Kapoor A, Taylor R, Flint P (2009) Design and integration of a telerobotic system for minimally invasive surgery of the throat. Int J Robotics Res 28(9):1134–1153

    Article  Google Scholar 

  14. Camarillo DB, Milne CF, Carlson CR, Zinn MR, Salisbury JK (2008) Mechanics modeling of tendon-driven continuum manipulators. IEEE Trans Robot 24(6):1262–1273

    Google Scholar 

  15. Yoon H-S, Choi Y, Yi B-J (2010) A 4 DOF bendable endoscope mechanism for single port access surgery, Workshop on Snakes, Worms and Catheters: Continuum and Serpentine Robots for Minimally Invasive Surgery. IEEE Int Conf Robot Autom, pp 54–56

Download references


This work is supported by the Technology Innovation Program (10040097) funded by the Ministry of Trade, Industry and Energy Republic of Korea (MOTIE, Korea), supported by GRRC program of Gyeonggi Province (GRRC HANYANG 2013-A02), and financially supported by the Ministry of Trade, Industry and Energy (MOTIE) and Korea Institute for Advancement in Technology (KIAT) through the Workforce Development Program in Strategic Technology, supported by the MOTIE (The Ministry of Trade, Industry and Energy), Korea, under the Robotics-Specialized Education Consortium for Graduates support program supervised by the NIPA (National IT Industry Promotion Agency) (H1502-13- 1001).

Conflict of interest


Author information

Authors and Affiliations


Corresponding author

Correspondence to Byung-Ju Yi.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Kwon, YS., Tae, K. & Yi, BJ. Suspension laryngoscopy using a curved-frame trans-oral robotic system. Int J CARS 9, 535–540 (2014).

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: