Zhou Yuan, Hong Wuzhou, Xie Le, Feng Fan, Liang Haiting, Luo Dan, Li Keyong, Lou Binbin
Nanjing Medical University of Shanghai General Hospital, Shanghai, 200080.
Shanghai General Hospital of Shanghai Jiao Tong University, Shanghai, 200080.
Zhongguo Yi Liao Qi Xie Za Zhi. 2022 Jul 30;46(4):399-403. doi: 10.3969/j.issn.1671-7104.2022.04.010.
In order to improve the operation difficulties in the narrow space of the nasal maxillary sinus, the nasal continuum minimally invasive surgical robot system is designed. The ball-and-socket joints and NiTiNol tubes are used as the main body of the continuum structure to improve the degree of freedom. The hardware systems and software systems are designed. The security control policies are planned. Finally, the robot confirmed prototype experiments are conducted and the feasibility of continuum robot confirmed through master-slave control experiment and animal experiment.
为改善鼻上颌窦狭窄空间内的手术操作难度，设计了鼻连续体微创外科手术机器人系统。采用球窝关节和镍钛诺管作为连续体结构的主体以提高自由度。设计了硬件系统和软件系统，规划了安全控制策略。最后，进行了机器人样机实验，并通过主从控制实验和动物实验验证了连续体机器人的可行性。
