Design And Development Of Assistant Robot Sysytem For Sinus Surgrey

In a traditional way, the sinus surgery is conducted by the surgeon using only his or her one hand because the other hand was used to hold the endoscope. However, this manner has many disadvantages such as a long surgery time, a bad surgery result and a longer recover time from the patients. So many researchers try to rely on a robot which will replace the surgeon’s left hand to hold the endoscope to help the surgeon to conduct the sinus surgery. This paper has focused on the disadvantages existing in the traditional way and analyzed the research actuality; this paper then introduced a 7-DOF active sinus robot which can adjust its position and attitude due to the optical tracking system. The robot also assembled with a force/torque sensor which would feedback the contact force information between the patient and the end of the robot.This paper firstly introduced the freedom that was needed during the sinus surgery. And then a robot model including three mainly components was introduced before a detail design of the robot was finished. The paper then analyzed the kinematics of the robot by using the DH method and homogeneous transformation matrices. The detail deduction of the kinematical equation was given and redundant solutions were get rid of according to optimal path principle. This paper set up the control system of the robot, gave a detail computer and select of all the electrical elements. In the end of the paper, an experimental platform was introduced and a functional testing of the robot and repeated positioning accuracy were conducted.The innovation of this paper was the design of a novel sinus robot and the use of optical tracking system and a force/torque sensor to enhance the safety of the control. This robot system can offer some reference to related researchers.