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Design and path tracking control of a continuum robot for maxillary sinus surgery

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

Continuum robots (CRs) have been developed for maxillary sinus surgery (MSS) in recent years. However, due to the anatomically curved and narrow pathway of the maxillary sinus and the deformable characteristics of the CR, it is still a challenge to accurately approach the target in the sinus. Thus, the CR-assisted MSS demands further research, whether in robotic system design or in reliable motion control.

Methods

A continuum robotic system integrated with essential instruments and sensors for MSS is developed, and the path tracking control of the designed CR is studied. The differential kinematic model of the CR is constructed. By analyzing the potential problem of the traditional Jacobian-based control, an iterative Jacobian transpose-based closed-loop control method is proposed to improve the path tracking performance. To validate the design of the CR and the effectiveness of the proposed control scheme, different groups of experiments are performed.

Results

With the proposed method, the path tracking performance of the CR is improved. Compared with the open-loop Jacobian transpose-based control method, the path tracking error of the proposed method is much less. The maxillary sinus phantom tests are conducted to verify the reachability of the designed CR. Given the reference path from the nostril to the target in the maxillary sinus phantom, experiments show a mean error of 0.96 mm.

Conclusions

The designed CR is slender, flexible, and able to smoothly approach the target in a tortuous and constrained environment without colliding with or damaging the surrounding tissue. The designed continuum robotic system and the proposed iterative Jacobian transpose-based closed-loop control strategy have great potential for MSS. The limitations of the proposed method are also discussed.

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Funding

This work was supported in part by the National Natural Science Foundation of China (Grant 62133009, Grant 61973211, and Grant M-0221), in part by the Science and Technology Commission of Shanghai Municipality (Grant 21550714200 and Grant 20DZ2220400), in part by the project of Institute of Medical Robotics of Shanghai Jiao Tong University, in part by the Foreign Cooperation Project of Fujian Province Science and Technology Program (Grant 2022I0041), in part by the Project of Quanzhou High-level Talent Innovation and Entrepreneurship (Grant 2021C003R), in part by the Hospital-local Cooperation Project of Xuhui District Artificial Intelligence Medical (Grant 2021-008), and in part by the Joint Project of Xinhua Hospital and Institute of Medical Robotics of Shanghai Jiao Tong University(Grant 21XJMR03).

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Authors and Affiliations

  1. School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Yongfeng Cao, Zefeng Liu, Zheng Liu, Shuang Wang & Le Xie

  2. Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, 200240, China

    Le Xie

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  1. Yongfeng Cao
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  2. Zefeng Liu
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  3. Zheng Liu
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  4. Shuang Wang
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  5. Le Xie
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Correspondence to Le Xie.

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Cao, Y., Liu, Z., Liu, Z. et al. Design and path tracking control of a continuum robot for maxillary sinus surgery. Int J CARS 18, 753–761 (2023). https://doi.org/10.1007/s11548-022-02820-y

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  • DOI: https://doi.org/10.1007/s11548-022-02820-y

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