Research On Design And Experiment Of The Assistant Robot For Sinus Surgery

Endoscopic sinus surgery is an effective way for the surgical treatment of chronic sinusitis or other nasal diseases.The nasal cavity is near to the orbit and neurocranium which make the surgery higher risk.In traditional endoscopic sinus surgery,the surgeon has to use one hand to hold the endoscope leaving the other hand to perform the surgical instrument.The surgeon can not use two hands to fulfill complex operation which reduces the surgery quality in this single-operation case.So many researchers propose to replace the surgeon's one hand with robotic endoscope holder.This paper realizes using optical position system and human body language to control the robotic endoscope holder's motion for this single-operation mode.The endoscope holder system can replace the surgeon's hand and offer the surgeon with clear medical images by adjusting itself position and orientation automatically during the whole process.In addition,the remote center of motion point coincide with the entrance of the nasal cavity which can protect the safety of the patient as much as possible.This paper analyses the statics and dynamics of the remote center of motion mechanism widely used in minimal invasive surgery.Under meeting the work-space of the endoscope surgery,Non-dominated Sorting Genetic Algorithm-II is used to optimize the parameters of the remote center of motion mechanism which make the mechanism is better for the surgery.For the characters of the traditional endoscopic sinus surgery,using foot's motion to control the robotic endoscope holder is implemented.After analyzing the freedom of the foot's motion,hardware platform of getting the motion of the foot real-time is built which can send the motion information to the control system.According to the control rules in advance,the control system can drive the joints moving to the target position.Further more,for the particular occasion during the endoscope nasal surgery and the existing robotic endoscope holder,endoscope following the special surgical instrument method is presented.The endoscope can be adjusted automatically when the surgical instrument moves via the relationship between them.the software of the control system is built based on Qt platform which make the robot's state controllable by the assistant.The feasibility of the foot-controlled and automatic tracking method is verified in 3D printed nasal cavity.Robotic endoscopic holder will changed the traditional nasal surgery thoroughly.which will make the surgery more minimally invasive and more safer.