An Assistant Robot System for Sinus Surgery1

Endoscopic nasal surgery is with minimal invasiveness for the surgical treatment of nasal disease. During traditional functional endoscopic sinus surgery (FESS), the surgeon uses one hand to hold the surgical instrument leaving the other hand to hold the endoscope. When the surgeon needs to use two hands to perform some complex procedure, an assistant surgeon is required to help holding the endoscope, and this requires good teamwork and long-time training. To solve this problem, researchers proposed to use robots to hold the endoscope, freeing the surgeon’s hands for bimanual operation. Sun developed a passive arm with pneumatic locking mechanism to hold the endoscope in FESS, but the surgeon needs to adjust the pose of the endoscope manually, which interrupts the surgery flow and lengthens the surgery time [1]. Many motor-driven endoscope holders have been proposed in literature [2], the surgeon interact with the robot with joystick, voice command, pedals or head movement [3–5]. However, there exists some drawbacks with these interacting methods, for example, joystick requires one of the surgeon’s hands, voice command is usually subject to interference and has long time-delay, foot pedals and head movement distract surgeon’s attention. Lin used a foot-attached IMU sensor to control an active robotic endoscopic holder, the inversion/eversion and abduction/adduction motions of foot are used to select and control different joints, but the motor can be only selected in order, which is unhandy for the four-joint scenario [6]. In this paper, a similar foot-attached IMU sensor is used, and the joints are selected in an easier manner, based on the angle of plantarflexion. Rather than the angle, the angular velocity of abduction/adduction is utilized to control the moving direction of the active joint. This paper describes the test result of the proposed control interface.

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“…A seven degrees of freedom robotic endoscope holder in our lab [7] is used in this project, as shown in Fig. 1.…”

Section: Methodsmentioning

confidence: 99%

A Foot-Controlled Interface for Endoscope Holder in Functional Endoscopic Sinus Surgery

Dai

Zhao

Yu-cheng

et al. 2017

2017 Design of Medical Devices Conference

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“…Generally, the nasal endoscope tip trajectory of robot endeffector in robot-assisted endoscopic nasal surgery [38]- [41] is shown in Fig. 1.…”

Section: Endoscopic Path Planning Requirements Analysismentioning

confidence: 99%

Endoscopic Path Planning in Robot-Assisted Endoscopic Nasal Surgery

Zhang

et al. 2020

IEEE Access

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In robot-assisted endoscopic nasal surgery, due to the slender and complicated nasal cavity and sinus anatomical structure, the nasal endoscope of robot end-effector is prone to injure surrounding tissues during surgical approaches. In order to improve the movement safety of the endoscope in robot-assisted endoscopic nasal surgery, a path planning method for endoscopic surgical approaches based on medical image pixel map searching is proposed in this paper, and safe surgical paths from the nasal entrance point to the operating areas are obtained. Firstly, through the trajectory analysis of nasal endoscope tip during surgery, the path planning requirements of endoscope tip are analyzed and obtained. Then, considering the slender and complicated anatomy of the nasal cavity, a binarized three-dimensional grid map containing the spatial anatomy of the nasal cavity is constructed based on the patient's CT medical image sequence. The endoscopic surgical approaches are searched and optimized by introducing the A-star algorithm, and safe surgical paths from the nasal entrance point to the operating areas are obtained. Finally, a virtual nasal endoscopy system is developed and tested on a head model containing nasal tissue, and the effectiveness of the planned surgical paths is verified by automatic virtual nasal endoscopy browsing experiment.

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“…The experimental platform is shown below in Figure 9, which includes a nasal endoscope subsystem (Shenda Endoscope Company, China), a self-developed image navigation subsystem based on an optical measurement device, Polaris Vicra (Northern Digital Company, Canada), a human head model (Phacon Company, Germany), and an endoscopic sinus surgery assistant robot. The robot is developed by our team on the basis of its previous version [37]; it has 7 degrees of freedom and a ring-shaped workspace, which can cover the operation range of endoscopic sinus surgery of 200 × 200 × 150 mm (size of a typical human head). based on an optical measurement device, Polaris Vicra (Northern Digital Company, Canada), a human head model (Phacon Company, Germany), and an endoscopic sinus surgery assistant robot.…”

Section: Experiments Setupmentioning

confidence: 99%

“…based on an optical measurement device, Polaris Vicra (Northern Digital Company, Canada), a human head model (Phacon Company, Germany), and an endoscopic sinus surgery assistant robot. The robot is developed by our team on the basis of its previous version [37]; it has 7 degrees of freedom and a ring-shaped workspace, which can cover the operation range of endoscopic sinus surgery of 200 × 200 × 150 mm (size of a typical human head). Figure 10 shows the experiment scene of the GVF, which is a cubic polynomial curve.…”

Section: Experiments Setupmentioning

confidence: 99%

Human–Robot Cooperative Control Based on Virtual Fixture in Robot-Assisted Endoscopic Sinus Surgery

Zhang

et al. 2019

Applied Sciences

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In endoscopic sinus surgery, the robot assists the surgeon in holding the endoscope and acts as the surgeon’s third hand, which helps to reduce the surgeon’s operating burden and improve the quality of the operation. This paper proposes a human–robot cooperative control method based on virtual fixture to realize accurate and safe human–robot interaction in endoscopic sinus surgery. Firstly, through endoscopic trajectory analysis, the endoscopic motion constraint requirements of different surgical stages are obtained, and three typical virtual fixtures suitable for endoscopic sinus surgery are designed and implemented. Based on the typical virtual fixtures, a composite virtual fixture is constructed, and then the overall robot motion constraint model is obtained. Secondly, based on the obtained robot motion constraint model, a human–robot cooperative control method based on virtual fixture is proposed. The method adopts admittance control to realize efficient human–robot interaction between the surgeon and robot during the surgery; the virtual fixture is used to restrain and guide the motion of the robot, thereby ensuring motion safety of the robot. Finally, the proposed method is evaluated through a robot-assisted nasal endoscopy experiment, and the result shows that the proposed method can improve the accuracy and safety of operation during endoscopic sinus surgery.

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An Assistant Robot System for Sinus Surgery1

Cited by 9 publications

References 3 publications

A Foot-Controlled Interface for Endoscope Holder in Functional Endoscopic Sinus Surgery

A Foot-Controlled Interface for Endoscope Holder in Functional Endoscopic Sinus Surgery

Endoscopic Path Planning in Robot-Assisted Endoscopic Nasal Surgery

Human–Robot Cooperative Control Based on Virtual Fixture in Robot-Assisted Endoscopic Sinus Surgery

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