Kinematic Design for Robot-assisted Laryngeal Surgery Systems

摘要

Robot-assisted surgical systems can be used to extend the capabilities of surgeons. A number of surgical robots have been successfully utilized in several surgical applications. This paper presents our recent work on the design of a robot-assisted, laryngeal surgical system. The system works in a master-slave operation mode. PHANToM Desktop devices are used as the master of the system. The slave of this system, which has dual arms, is designed and optimized to perform laryngeal surgeries with high precision and dexterity. The results of animal experiments show that it is possible to apply the system to perform minimally invasive throat surgery through a laryngoscope