Development and validation of a two‐segment continuum robot for maxillary sinus surgery. Issue 1 (20th October 2021)

• Record Type: Journal Article
• Authors: Hong, Wuzhou; Zhou, Yuan; Cao, Yongfeng; Feng, Fan; Liu, Zefeng; Li, Keyong; Xie, Le
• Is Part Of: International journal of medical robotics and computer assisted surgery. Volume 18:Issue 1(2022)
• Page Start: n/a
• Page End: n/a
• Publication Date: 2021-10-20
• Subjects: continuum robot -- follow‐the‐leader -- maxillary sinus surgery -- master–slave control -- tendon‐driven; Robotics in medicine -- Periodicals; Surgery -- Technological innovations -- Periodicals; Imaging systems in medicine -- Periodicals; 617.90285
• DOI: 10.1002/rcs.2340
• Languages: English
• ISSNs: 1478-5951

Abstract

Abstract: 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.