A Robot for Automatic Execution of Surgeries for Straightening Nasal Septa
Every year, thousands of people worldwide undergo surgery to straighten their nasal septa.
The quality of such surgeries and the long-term effects depend on the given patient’s general medical condition, the expertise of the surgeon, and the equipment used in the procedure.
In this project, we develop the equipment for automatically performing the septum-straightening surgery.
This equipment includes:
- A tiny equipment piece for getting a 3D image of the surface of every patient’s septum, and the entry of this image into the computer.
- Software that should include:
A special laser knife that should be used for the surgery
An automatic device that should allow the laser knife to move in 3D space.
The equipment is developed to work in the following way:
- A mathematical description of the surface of the septum for every patient
- An analytical estimation of the movement trajectories of the laser knife on the surface of a given nasal septum during the surgery – that is, the calculation of the shape and number of the cuts, etc. (This is a new methodology for straightening the septum, and its realization is possible only using this equipment.)
- Controlling the movement of a laser knife in 3-dimensional space
- Controlling the energy of the laser knife
The laser knife with a smaller level of laser radiation can once again be entered into the nasal cavity for moving across new trajectories – those of the closed cuts. This would allow the cuts and fissures to be sealed.
- The automatic device inserts the laser knife into the nasal cavity between the nasal mucous and septum, and moving it in 3-dimensional space along the previously calculated trajectories, makes cuts that result in the required fissures in the septum. The laser knife is then extracted from the nasal cavity.
- The nasal septum is straightened and then put back in place. After the straightening of the septum, there are no fractures or clefts – every cut is closed (so the healing process can begin). The nasal mucous is then connected with the septum and the surgery is complete.
CONTROL ALGORITHM FOR THE MECHANICAL ROBOT MOVING A LASER KNIFE IN NASAL SEPTUM SURGERY