The Kinematic Design of the New Endoscope Manipulator System (EMS) for Functional Endoscopic Sinus Surgery and Familiar Techniques in ENT Surgery

摘要

In this paper we present the kinematic design of the endoscope manipulator system (EMS), developed for endo-and transnasal sinus surgery which enables the surgeon to operate bimanually. It is characterized by its miniaturized size of a human hand, its extreme lightweight construction and its special kinematics to serve the workspace in the paranasal sinuses. Using a parallel kinematics, it is possible to engineer a stiff and light system. The kinematic design allows bringing the pivot point close to the nostrils, without moving the whole system closer to the patient's head and to obstruct the passage for the surgeon's instruments. This system has been used during a surgical intervention for the first time. The surgeon's feedback is promising.