Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, China.
Department of Otolaryngology Head and Neck Surgery, Shanghai General Hospital of Shanghai Jiao Tong University, Shanghai, China.
Int J Med Robot. 2022 Feb;18(1):e2340. doi: 10.1002/rcs.2340. Epub 2021 Oct 20.
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.
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.
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.
The developed continuum robotic system can meet the requirements of MSS.
现有的刚性器械在向后检查和操作时存在困难。此外，上颌窦的通路是弯曲和狭窄的，导致复杂和重复的手动操作。因此，有必要开发一种可向后弯曲的机器人并实现跟踪路径的运动。
为上颌窦手术（MSS）开发了连续体机器人系统。该系统采用基于解剖约束的跟踪领导者策略的优化来生成沿着给定路径的安全控制方案。
评估了系统的准确性，并在受约束的解剖空间中执行了到达深部目标的任务。跟踪运动的仿真和实验验证了所提出方法的可行性。此外，还进行了初步的猪研究来评估器械的能力。
开发的连续体机器人系统可以满足 MSS 的要求。
