Design of the continuum robotic system for nasal minimally invasive surgery

摘要

The passage to the maxillary sinus region is naturally crooked and cramped. Therefore, the traditional endoscopic and surgical instruments based on the detection and treatment of target lesions have some limitations. This paper introduces a new continuum mechanism of the bending manipulator to perform NOTES. The proposed manipulator can be deflected into maxillary sinus area, and it is designed to be bent up to 270 degrees and its diameter is about 4mm. The objectives, components' design, and some experiments are arranged to show the sinus robot's potential.