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Technical Brief

An Assistant Robot System for Sinus Surgery1

[+] Author and Article Information
Yucheng He, Ying Hu, Peng Zhang

Shenzhen Institutes of Advanced Technology,
Chinese Academy of Sciences,
Shenzhen 518055, China;
Shenzhen College of Advanced Technology,
University of Chinese Academy of Sciences,
Shenzhen 518055, China

Baoliang Zhao, Peng Gao

Shenzhen Institutes of Advanced Technology,
Chinese Academy of Sciences,
Shenzhen 518055, China

Xilong Hou

Shenzhen Institutes of Advanced Technology,
Chinese Academy of Sciences,
Shenzhen 518055, China;
Shenzhen Graduate School,
Harbin Institute of Technology,
Shenzhen 518055, China

2Corresponding authors.

DOI: 10.1115/1.4033801Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online August 1, 2016. Editor: William Durfee.

J. Med. Devices 10(3), 030925 (Aug 01, 2016) (3 pages) Paper No: MED-16-1112; doi: 10.1115/1.4033801 History: Received March 01, 2016; Revised March 17, 2016

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Copyright © 2016 by ASME
Topics: Robots , Surgery , Endoscopes
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References

Zhang, P. , He, Y. , Hu, Y. , Hou, X. , Zhu, L. , and Zhang, J. , 2014, “ Design of a Novel Passive Endoscopic Robot for Sinus Surgery,” 4th IEEE International Conference on Information Science and Technology (ICIST), Shenzhen, China, Apr. 26–28, pp. 833–836.
Navarro-Alarcon, D. , Liu, Y. , and Li, P. , 2011, “ Stable Force/Position Control of a Robotic Endoscope Holder for Constrained Tasks in Nasal Surgery,” 9th World Congress on Intelligent Control and Automation (WCICA), Taipei, Taiwan, June 21–25, pp. 1195–1200.
Trevillot, V. , Sobral, R. , Dombre, E. , Poignet, P. , Herman, B. , and Crampette, L. , 2013, “ Innovative Endoscopic Sino-Nasal and Anterior Skull Base Robotics,” Int. J. Comput. Assisted Radiol. Surg., 8(6), pp. 977–987. [CrossRef]
Craig, J. J. , 2004, Introduction to Robotics: Mechanics and Control, 3rd ed., Prentice Hall, New York.

Figures

Grahic Jump Location
Fig. 1

The CAD model of the robot with link-frame assignment

Grahic Jump Location
Fig. 2

Workspace of the robot: (a) xoy, (b) yoz, (c) xoz, and (d) o-xyz

Grahic Jump Location
Fig. 3

Prototype of the robot

Grahic Jump Location
Fig. 4

Endoscope active adjusting system

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