Design of a multi-arm concentric-tube robot system for transnasal surgery.
Concentric tube robot (CTR) has gradually attracted the attention of researchers on the basis of its small size and curved shape control ability. However, most of current experimental prototypes of CTR are single-arm structure, which can only carry out simple operation such as drug delivery or monit...
| Publicado en: | Medical & Biological Engineering & Computing Vol. 58; no. 3; pp. 497 - 509 |
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| Autores principales: | , , , , , |
| Formato: | Journal Article |
| Publicado: |
Springer Nature
Mar2020
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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=142105113&site=ehost-live header: @attributes: shortDbName: ccm uiTerm: 142105113 longDbName: CINAHL Complete uiTag: AN controlInfo: bkinfo: dissinfo: jinfo: jid: 01400118 PO0 jtl: Medical & Biological Engineering & Computing issn: 01400118 maglogo: N pubinfo: dt: Mar2020 vid: 58 iid: 3 pid: 237 pub: Springer Nature place: New York, New York artinfo: ui: 142105113 142105113 NLM31900817 10.1007/s11517-019-02093-9 NLM31900817 142105113 ppf: 497 ppct: 12 formats: fmt: – @attributes: type: T – @attributes: type: P tig: atl: Design of a multi-arm concentric-tube robot system for transnasal surgery. aug: au: Wang, Jie Yang, Xing Li, Peng Song, Shuang Liu, Li Meng, Max Q.-H. affil: Department of Electronic Engineering, the Chinese University of Hong Kong, Hong Kong, China sug: subj: Robotic Surgical Procedures Equipment and Supplies Nose Surgery Robotics Kinematics Equipment Design Endoscopy Telemedicine ab: Concentric tube robot (CTR) has gradually attracted the attention of researchers on the basis of its small size and curved shape control ability. However, most of current experimental prototypes of CTR are single-arm structure, which can only carry out simple operation such as drug delivery or monitoring. In this paper, design and analysis of a three-arm CTR system is proposed. It has a four-DOF vision arm and two six-DOF manipulator arms, which equipped with special end effectors to achieve different surgical operations. Finally, a mean motion accuracy of 0.33 mm has been obtained quantitatively through teleoperation experiments. Moreover, tissue excision experiment in skull model is carried out to prove the effectiveness and feasibility of the proposed CTR system in nasopharyngeal carcinoma surgery. Graphical Abstract Platform of the proposed Multi-Arm Concentric Tube Robot system. (a) Configuration of the end-effectors with the CTR system. (b) The setup of the tissue removal experiment in a skull model. pubtype: Academic Journal doctype: Journal Article ougenre: Article language: English refInfo: holdings: @attributes: islocal: N |
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