Table 1 State of the art of flexible, steerable instruments for endoscopic maxillary sinus surgery.
From: A miniature robotic steerable endoscope for maxillary sinus surgery called PliENT
Author | Illustration | Tools | Diameter | Performance characteristics | Control |
|---|---|---|---|---|---|
Yoon et al.29 |
| Camera | 4 mm | 1 DOF; 180° BA; 9.5 mm BR | Teleoperation |
Yoon et al.29 |
| Gripper | 5 mm | 2 DOF; 180° BA; 9.5 mm BR | Teleoperation |
Rosen et al.30 |
| 2 scanning fiber, forceps, scissors, irrigation channel | 8 mm | 3 DOF; 180° BA | Teleoperation |
Hong et al.31 |
| Gripper | 4 mm | 1 DOF; 270° BA; 10 mm BR | Teleoperation |
Webster et al.32 |
| – | 0.8–2.4 mm | 6 DOF | Teleoperation |
3NT Medical Ltd28 |
| Irrigation channel, camera | 2.3 mm | 1 DOF (1.dir); 125° BA; 3 mm BR | Manual (2 hands) |
Endius Inc.33 |
| Forceps | 3 mm | 1 DOF (1.dir); 180° BA | Manual (2 hands) |
Smith & Nephew34 |
| Forceps | 3 mm | 1 DOF; 240° BA | Manual (2 hands) |
