Implementation of a Semi-Autonomous ENT Robotic Clinics System: Dual-Perspective Framework for Coordinated Robot Control with Tool change

Abstract

Otolaryngology (ENT) procedure in outpatient settings presents several challenges such as procedural complexity, assistant dependency, and high infection risks due to its nature. To address these challenges, this paper presents a semi-autonomous, dual-arm robotic system for ENT outpatient procedures designed for a separated-space configuration. The system’s design is based on an ENT-specific task and workspace analysis, which establishes the detailed specifications for control parameters and hardware configurations required for implementing various procedures. The system integrates an automated tool-changing system that can handle instruments such as suction, swabs, and forceps, enabling a complete diagnostic and therapeutic workflow managed by a single clinician. The total coordinated workflow is designed within a dual-perspective framework, implemented as a Hierarchical Finite State Machine (HFSM), which translates high-level clinical intent into executable robotic actions through an intuitive user interface, refined through extensive UX/UI research. Experimental evaluations verified the usability of the implemented system throughout the entire workflow. The platform makes solo-physician ENT procedures available via teleoperation, reducing assistant dependency, physician workload, and the potential for infection. This adaptable framework offers a comprehensive solution for improving ENT clinical practice and can be extended to other medical domains that demand advanced automated workflow execution.