Upper aerodigestive tract (UADT) treatments frequently employ transoral laser microsurgery (TLM) for procedures such as the removal of tumors or polyps. In TLM, a laser beam is used to cut target tissue, while forceps are employed to grasp, manipulate, and stabilize tissue within the UADT. Although TLM systems may rely on different technologies and interfaces, forceps manipulation is still predominantly performed manually, introducing limitations in ergonomics, precision, and controllability. This paper proposes a novel robotic system for tissue manipulation in UADT procedures, based on a novel end-effector designed for forceps control. The system is integrated within a teleoperation framework that employs a robotic manipulator with a programmed remote center of motion (RCM), enabling precise and constrained instrument motion while improving surgeon ergonomics. The proposed approach is validated through two experimental studies and a dedicated usability evaluation, demonstrating its effectiveness and suitability for UADT surgical applications.

翻译：上呼吸道消化道（UADT）治疗常采用经口激光微手术（TLM）进行肿瘤或息肉切除等操作。在TLM中，激光束用于切割目标组织，而镊子则用于抓取、操纵和稳定UADT内的组织。尽管TLM系统可能依赖不同的技术与交互界面，镊子操作目前仍主要依赖人工执行，这带来了人体工学、精度与可控性方面的局限。本文提出一种用于UADT手术中组织操作的新型机器人系统，其基于一种专为镊子控制设计的新型末端执行器。该系统集成于采用编程远程运动中心（RCM）的机器人操纵器的遥操作框架内，能够在提升外科医生人体工学体验的同时，实现精确且受约束的器械运动。通过两项实验研究和专项可用性评估，验证了所提方法的有效性及其在UADT手术应用中的适用性。