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	Design of a Robotic Endoscope Holder for Sinus Surgery
	Xiangquan Sun; Yucheng He; Ying Hu; Peng Zhang; Hong Zhang; Jianwei Zhang
	2015
会议名称	IEEE International Conference on Robotics and Biomimetics(ROBIO)
会议地点	Zhuhai,China
英文摘要	During endoscopic sinus surgery, to perform complex surgical procedures in the delicate nasal cavity, endoscope holding devices are needed. This paper presents a novel robotic system with safe locking and easy to release system that assists surgeons in holding the endoscope. The presented robotic system has eleven degrees of freedom (DOF). The robot consists of an elevator mechanism, a positioning arm and a fine adjustment device. The positioning arm which adopts a negatively actuated air-locking system, consist of three modular rotational joints and two modular ball joints. Since the positioning arm has a structure such that it normally assumes a locked state, and an unlocked state only when necessary, the locked state of the arm can be maintained even if any trouble occurs, causing no falling of the whole robot. The mechanical models of the modular rotational joints and modular ball joints have been derived to guide the detailed design of the prototype of the robot. The workspace of the robot has also been analyzed. Preliminary experiments with manikin have been conducted to demonstrate the performance of the robot.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/6744]
专题	深圳先进技术研究院_集成所
作者单位	2015
推荐引用方式 GB/T 7714	Xiangquan Sun,Yucheng He,Ying Hu,et al. Design of a Robotic Endoscope Holder for Sinus Surgery[C]. 见:IEEE International Conference on Robotics and Biomimetics(ROBIO). Zhuhai,China.

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