Traditionally, sinus surgery is conducted by surgeons with their only one hand, because the other hand is used to hold the endoscope. This manner leads to a long surgery time, a bad surgery result, and a longer recover time for patients [1]. Many researchers try to employ a robot to replace the surgeon's left hand to hold the endoscope for sinus surgery. In Ref. [1], Zhang et al. have designed a passive endoscopic robot for sinus surgery and discussed the locking methods of the passive joints; in Ref. [2], Navarro-Alarcon et al. have designed a robotic endoscope holder and employed passivity-based control techniques to guarantee the stable manipulation; and in Ref. [3], Trevillot et al. have quantified the motion and force ranges and designed a compact endoscope positioner dedicated to sinonasal tract surgery.

This paper introduces a...

References

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