论文标题
用于耳朵和面部手术应用的新型RCM机制
A new RCM mechanism for an ear and facial surgical application
论文作者
论文摘要
由于中耳或鼻窦腔中的插入区域非常狭窄，因此内窥镜的迁移率降低到围绕虚拟点的旋转，以及用于插入相机的翻译。本文首先介绍了从3D扫描获得的这些区域的解剖结构，然后介绍了基于敏捷眼的结构与双平行四边形耦合以创建RCM的机制。该机制与定位机制相结合用于处理内窥镜。该工具与外科医生并行使用，以使他比使用双眼范围更好地呈现中耳。该机构提供了一个宽阔的工作空间，而没有奇异性，其边界是通过关节限制固定的。此功能允许患者头部和外科医生的人体工程学定位，并允许其他应用，例如鼻窦手术。
Since the insertion area in the middle ear or in the sinus cavity is very narrow, the mobility of the endoscope is reduced to a rotation around a virtual point and a translation for the insertion of the camera. This article first presents the anatomy of these regions obtained from 3D scanning and then a mechanism based on the architecture of the agile eye coupled to a double parallelogram to create an RCM. This mechanism coupled with a positioning mechanism is used to handle an endoscope. This tool is used in parallel to the surgeon to allow him to have better rendering of the medium ear than the use of Binocular scope. The mechanism offers a wide working space without singularity whose borders are fixed by joint limits. This feature allows ergonomic positioning of the patient's head on the bed as well as for the surgeon and allows other applications such as sinus surgery.
