一种用于耳面部外科手术的新型RCM机构
A new RCM mechanism for an ear and facial surgical application
摘要：
由于中耳或鼻窦腔中的插入区域非常狭窄，内窥镜的移动性被降低为围绕虚拟点的旋转和用于插入相机的平移。本文首先介绍了从3D扫描获得的这些区域的解剖结构，然后介绍了一种基于敏捷眼的架构的机制，该架构与双双头计算机耦合以创建RCM。该机构与定位机构耦合用于操纵内窥镜。该工具与外科医生并行使用，使其能够比使用双目镜更好地呈现中耳。该机构提供了一个没有奇异的工作空间，其边界由关节极限确定。该功能允许符合人体工程学的定位病人的头部在床上以及为外科医生，并允许其他应用，如鼻窦手术。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
