Damien Chablat : Connect in order to contact the contributor. Search Access content directly Footer. Sign in. Search Loading Search using SolR syntax. Search using SolR syntax Run the search. Book Sections Year : A new RCM mechanism for an ear and facial surgical application. Robotique Et Vivant. Abstract en. 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. Keywords en. RCM mechanism Endoscopy spherical robot Otologic surgery. Domains Robotics [cs. Files and preview Fichier principal. Origin Files produced by the author s.
Cited literature Loading Dates and versions hal , version 1 Advances in Service and Industrial Robotics , 84, Springer, pp. Share More.
