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Image-Guided Dual Master-Slave Robotic System for Maxillary Sinus Surgery

Title
Image-Guided Dual Master-Slave Robotic System for Maxillary Sinus Surgery
Author
정진혁
Keywords
Bendable device; dual arm; master-slave system; maxillary sinus; navigation; sinus surgery
Issue Date
2018-08
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE TRANSACTIONS ON ROBOTICS, v. 34, no. 4, page. 1098-1111
Abstract
The pathway to the maxillary sinus is anatomically curved and narrow. Thus, the conventional approach using a straight endoscope and surgical tools is difficult to diagnose and treat some blind regions of themaxillary sinus through the nostrils. Such cases are usually dealt with by an approach with an external incision that causes large invasive surgery. In order to approach the blind regions without any external incision, a new bendable device and an image-guided robotic approach for the maxillary sinus surgery are required. This work reports design, development, and validation of an image-guided dualmaster-slave robotic system for the maxillary sinus surgery. Initially, specifications of the robotic system for sinus surgery are decided by analysis of the anatomical structure of the sinus. A method for determining the design parameters of continuum type salve robot is also presented. Based on the specifications and the design parameter determining method, a compact design of bendable dual slave robotic system for inspection and biopsy operation of themaxillary sinus area is devised and workspace analysis for verifying the robot design is conducted. The performance of the dual master-slave system equipped with flexible devices is validated through several phantom tests. The results suggest that bendable end-effectors and navigation software are useful to navigate and treat blind regions inside general sinus areas as well as the maxillary sinus.
URI
https://ieeexplore.ieee.org/document/8362728https://repository.hanyang.ac.kr/handle/20.500.11754/119706
ISSN
1552-3098; 1941-0468
DOI
10.1109/TRO.2018.2830334
Appears in Collections:
COLLEGE OF MEDICINE[S](의과대학) > MEDICINE(의학과) > Articles
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