Development and validation of a two-segment continuum robot for maxillary sinus surgery
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Published on: January 28, 2020
Wuzhou Hong1, Yuan Zhou2, Yongfeng Cao1
1Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, China.
Background:
Existing rigid instruments have difficulties in backward inspection and operation. Moreover, the pathway to the maxillary sinus is curved and narrow, resulting in complex and repetitive manual operations. There is a necessity to develop a retro-flexing robot and achieve path-following motion.
Methods:
A continuum robotic system is developed for maxillary sinus surgery (MSS). And the system adopts an anatomical constraint-based optimization of the follow-the-leader strategy to generate a safe control scheme along a given path.
Results:
The accuracy of the system is evaluated, and the task of reaching deep-seated targets is performed in a constrained anatomical space. The simulations and experiments of the path-following motion have validated the feasibility of the proposed method. Furthermore, a preliminary porcine study is performed to assess the capability of instruments.
Conclusions:
The developed continuum robotic system can meet the requirements of MSS.
