Design and path tracking control of a continuum robot for maxillary sinus surgery.

Journal: International journal of computer assisted radiology and surgery
Published Date: Dec 29, 2022

Abstract

PURPOSE: Continuum robots (CRs) have been developed for maxillary sinus surgery (MSS) in recent years. However, due to the anatomically curved and narrow pathway of the maxillary sinus and the deformable characteristics of the CR, it is still a challenge to accurately approach the target in the sinus. Thus, the CR-assisted MSS demands further research, whether in robotic system design or in reliable motion control.

Authors

  • Yongfeng Cao
    Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, China.
  • Zefeng Liu
    Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, China.
  • Zheng Liu
    ICSC World Laboratory, Geneva, Switzerland.
  • Shuang Wang
    Engineering Technology Research Center of Shanxi Province for Opto-Electric Information and Instrument, Taiyuan 030051, China. S1507038@st.nuc.edu.cn.
  • Le Xie
    Research Institute of Med-X, Shanghai Jiao Tong University, Shanghai, China.

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