Design of a Rigid-Flex Coupling Flexible Manipulator for Endoscopic Sinus Surgery

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-05-16 DOI:10.1002/rcs.70075

Hongyu Cheng, Zheng Liu, Shuang Wang, Le Xie

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引用次数: 0

Abstract

Background

Current instruments used in tight spaces face challenges. Additionally, accessing the endoscopic sinus pathway is complex due to its curved and narrow nature, requiring intricate manual manoeuvres. Therefore, there is a demand for the development of a flexible instrument.

Methods

In this study, a rigid-flex coupling flexible manipulator was designed specifically for endoscopic sinus surgery. The investigation includes various theoretical analyses such as clinical requirements, stiffness, kinematics, statics and master–slave control strategy.

Results

The manipulator is fabricated and its properties is evaluated. The experimental results demonstrate that the proposed theoretical model accurately describes the motion of the manipulator. Furthermore, the feasibility of the manipulator was verified using both 3D-printed sinus models and human head models.

Conclusions

Based on our findings, the proposed flexible manipulator successfully meets the basic requirements of endoscopic sinus surgery.

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内镜鼻窦手术用刚柔耦合柔性机械臂的设计

当前在狭小空间中使用的仪器面临着挑战。此外，由于其弯曲和狭窄的性质，进入内窥镜窦通道是复杂的，需要复杂的手动操作。因此，有必要开发一种灵活的仪器。方法设计一种专为内镜鼻窦手术设计的刚柔耦合柔性机械臂。研究包括临床要求、刚度、运动学、静力学和主从控制策略等理论分析。结果制备了机械手，并对其性能进行了评价。实验结果表明，该理论模型准确地描述了机械手的运动。此外，利用3d打印鼻窦模型和人体头部模型验证了该机械手的可行性。结论根据我们的研究结果，所提出的柔性机械臂成功地满足了内镜鼻窦手术的基本要求。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.