Design of A Continuum Robot System with Object Detection for the Diagnosis of Vocal Fold Lesions

Currently, on the one hand, continuum robots have been widely used for robot-assisted minimally invasive surgery. On the other hand, deep learning is also widely used in medical image detection and recognition. However, there is no robotic system that integrates those two technologies for vocal fold tissue lesion detection. Therefore, in this paper, we designed a continuum robot for diagnosing vocal fold lesions based on the helical flexible joint and the master-slave kinematic mapping method is derived. In addition, we conducted experiments on object detection vocal fold lesions using a laryngeal model based on YOLOv5 by using the Pytorch framework.