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Moreover, the pathway to the maxillary sinus is curved and narrow, resulting in complex and repetitive manual operations. There is a necessity to develop a retro\u2010flexing robot and achieve path\u2010following motion.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>A continuum robotic system is developed for maxillary sinus surgery (MSS). And the system adopts an anatomical constraint\u2010based optimization of the follow\u2010the\u2010leader strategy to generate a safe control scheme along a given path.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>The accuracy of the system is evaluated, and the task of reaching deep\u2010seated targets is performed in a constrained anatomical space. The simulations and experiments of the path\u2010following motion have validated the feasibility of the proposed method. Furthermore, a preliminary porcine study is performed to assess the capability of instruments.<\/jats:p><\/jats:sec><jats:sec><jats:title>Conclusions<\/jats:title><jats:p>The developed continuum robotic system can meet the requirements of MSS.<\/jats:p><\/jats:sec>","DOI":"10.1002\/rcs.2340","type":"journal-article","created":{"date-parts":[[2021,10,11]],"date-time":"2021-10-11T22:11:06Z","timestamp":1633990266000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Development and validation of a two\u2010segment continuum robot for maxillary sinus surgery"],"prefix":"10.1002","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9571-1224","authenticated-orcid":false,"given":"Wuzhou","family":"Hong","sequence":"first","affiliation":[{"name":"Institute of Forming Technology\u00a0&amp; Equipment Shanghai Jiao Tong University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuan","family":"Zhou","sequence":"additional","affiliation":[{"name":"Department of Otolaryngology Head and Neck Surgery Shanghai General Hospital of Shanghai Jiao Tong University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7157-5325","authenticated-orcid":false,"given":"Yongfeng","family":"Cao","sequence":"additional","affiliation":[{"name":"Institute of Forming Technology\u00a0&amp; Equipment Shanghai Jiao Tong University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6377-6496","authenticated-orcid":false,"given":"Fan","family":"Feng","sequence":"additional","affiliation":[{"name":"Institute of Forming Technology\u00a0&amp; Equipment Shanghai Jiao Tong University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1857-442X","authenticated-orcid":false,"given":"Zefeng","family":"Liu","sequence":"additional","affiliation":[{"name":"Institute of Forming Technology\u00a0&amp; Equipment Shanghai Jiao Tong University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Keyong","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Otolaryngology Head and Neck Surgery Shanghai General Hospital of Shanghai Jiao Tong University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8123-8464","authenticated-orcid":false,"given":"Le","family":"Xie","sequence":"additional","affiliation":[{"name":"Institute of Forming Technology\u00a0&amp; 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