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Development and validation of a two-segment continuum robot for maxillary sinus surgery.

Wuzhou Hong1, Yuan Zhou2, Yongfeng Cao1

  • 1Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|October 11, 2021
PubMed
Summary

A new continuum robotic system offers improved backward inspection and operation for maxillary sinus surgery (MSS). This robot navigates complex pathways, simplifying procedures and enhancing surgical capabilities.

Keywords:
continuum robotfollow-the-leadermaster-slave controlmaxillary sinus surgerytendon-driven

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Area of Science:

  • Medical Robotics
  • Surgical Innovation
  • Minimally Invasive Surgery

Background:

  • Rigid surgical instruments face limitations in backward inspection and operation within the maxillary sinus.
  • The curved and narrow anatomy of the maxillary sinus necessitates complex manual maneuvers.
  • Current surgical approaches for the maxillary sinus involve repetitive and challenging manual operations.

Purpose of the Study:

  • To develop a novel retro-flexing continuum robotic system for enhanced maxillary sinus surgery (MSS).
  • To enable precise path-following motion for robotic instruments in confined anatomical spaces.
  • To overcome the limitations of rigid instruments in complex surgical environments.

Main Methods:

  • Development of a continuum robotic system specifically designed for maxillary sinus surgery.
  • Implementation of an anatomical constraint-based optimization for a follow-the-leader control strategy.
  • Generation of a safe and accurate control scheme for navigating predefined surgical paths.

Main Results:

  • The system's accuracy was rigorously evaluated in reaching deep-seated targets within a constrained anatomical space.
  • Simulations and experiments confirmed the feasibility of the path-following motion capabilities.
  • A preliminary porcine study demonstrated the practical applicability and capability of the robotic instruments.

Conclusions:

  • The developed continuum robotic system effectively meets the demanding requirements of maxillary sinus surgery.
  • This robotic solution offers a promising advancement for improving surgical outcomes in MSS.
  • The system's design facilitates safer and potentially more efficient surgical interventions.