Development of Nasal Continuum Minimally Invasive Surgical Robot System.
10.3969/j.issn.1671-7104.2022.04.010
- Author:
Yuan ZHOU
1
;
Wuzhou HONG
2
;
Le XIE
2
;
Fan FENG
2
;
Haiting LIANG
3
;
Dan LUO
3
;
Keyong LI
1
;
Binbin LOU
3
Author Information
1. Nanjing Medical University of Shanghai General Hospital, Shanghai, 200080.
2. Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, 200030.
3. Shanghai General Hospital of Shanghai Jiao Tong University, Shanghai, 200080.
- Publication Type:Journal Article
- Keywords:
animal experiment;
continuum robot;
master-slave control;
nasal maxillary sinus
- MeSH:
Animals;
Biomechanical Phenomena;
Equipment Design;
Minimally Invasive Surgical Procedures;
Robotic Surgical Procedures;
Robotics;
Software
- From:Chinese Journal of Medical Instrumentation
2022;46(4):399-403
- CountryChina
- Language:Chinese
-
Abstract:
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.
