Development of a compact continuum tubular robotic system for nasopharyngeal biopsy.
Traditional posterior nasopharyngeal biopsy using a flexible nasal endoscope has the risks of abrasion and injury to the nasal mucosa and thus causing trauma to the patient. Recently, a new class of robots known as continuum tubular robots (CTRs) provide a novel solution to the challenge with miniat...
| Publicado en: | Medical & Biological Engineering & Computing Vol. 55; no. 3; pp. 403 - 418 |
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| Autores principales: | , , , , , |
| Formato: | Journal Article |
| Publicado: |
Springer Nature
Mar2017
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| Acceso en línea: | Ver este registro en EBSCOhost |
| fields | @attributes: recordID: 1 pdfLink: plink: https://search.ebscohost.com/login.aspx?direct=true&db=ccm&AN=121412399&site=ehost-live header: @attributes: shortDbName: ccm uiTerm: 121412399 longDbName: CINAHL Complete uiTag: AN controlInfo: bkinfo: dissinfo: jinfo: jid: 01400118 PO0 jtl: Medical & Biological Engineering & Computing issn: 01400118 maglogo: N pubinfo: dt: Mar2017 vid: 55 iid: 3 pid: 237 pub: Springer Nature place: New York, New York artinfo: ui: 121412399 121412399 NLM27230499 10.1007/s11517-016-1514-9 NLM27230499 121412399 ppf: 403 ppct: 15 formats: fmt: @attributes: type: P tig: atl: Development of a compact continuum tubular robotic system for nasopharyngeal biopsy. aug: au: Wu, Liao Song, Shuang Wu, Keyu Lim, Chwee Ren, Hongliang Lim, Chwee Ming affil: School of Electrical Engineering and Computer Science , Queensland University of Technology , Brisbane Australia sug: subj: Nasopharynx Pathology Robotics Equipment and Supplies Robotics Methods Printing, Three-Dimensional Telemetry Biopsy Cadaver Kinematics Scales ab: Traditional posterior nasopharyngeal biopsy using a flexible nasal endoscope has the risks of abrasion and injury to the nasal mucosa and thus causing trauma to the patient. Recently, a new class of robots known as continuum tubular robots (CTRs) provide a novel solution to the challenge with miniaturized size, curvilinear maneuverability, and capability of avoiding collision within the nasal environment. This paper presents a compact CTR which is 35 cm in total length, 10 cm in diameter, 2.15 kg in weight, and easy to be integrated with a robotic arm to perform more complicated operations. Structural design, end-effector design, and workspace analysis are described in detail. In addition, teleoperation of the CTR using a haptic input device is developed for position control in 3D space. Moreover, by integrating the robot with three electromagnetic tracking sensors, a navigation system together with a shape reconstruction algorithm is developed. Comprehensive experiments are conducted to test the functionality of the proposed prototype; experiment results show that under teleoperation, the system has an accuracy of 2.20 mm in following a linear path, an accuracy of 2.01 mm in following a circular path, and a latency time of 0.1 s. It is also found that the proposed shape reconstruction algorithm has a mean error of around 1 mm along the length of the tubes. Besides, the feasibility and effectiveness of the proposed robotic system being applied to posterior nasopharyngeal biopsy are demonstrated by a cadaver experiment. The proposed robotic system holds promise to enhance clinical operation in transnasal procedures. pubtype: Academic Journal doctype: Journal Article ougenre: Article language: English refInfo: holdings: @attributes: islocal: N |
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