Design and analysis of a continuum robot for transnasal skull base surgery

Abstract

Background:The traditional surgical instruments for transnasal endoscopic skull base surgery have poor flexibility and continuum robot has attracted extensive attention for its high dexterity and safety.Methods: A new type of micro continuum surgical robot is designed. On the basis of kinematic analysis, a superposition method is proposed to analyse the reachable configuration space of the system, and the workspace is analysed. The results obtained by superposition method can provide reference for the selection of joint parameters. At last, the static model of the system is established considering friction and coupling between two segments. Results:The simulation results show that the workspace can meet the requirements of surgery. And the validity of the static model is verified by numerical simulation and experiment, which lays a foundation for the establishment of the driving force transmission system and precise control of the robot. Conclusions:The research results of this study contribute to the real-time control and movement of robot. The proposed continuum robot provides convenient conditions for the clinical application.

General compensation control method of flexible manipulator driven by tendon-sheath mechanism

“…Q t are the ideal kinematic movement of the driving tendon and its correction result.  is the elongation calculated by equation (12), and tendon F is the driving force, which is not measured by sensors, but through static model. This method is generally applicable, and can be easily applied to various types of flexible manipulator.…”

“…The change of system potential energy is recorded as E  . It can be obtained according to the principle of virtual work [11,12] T T e…”

Dexterity enhancement of continuum robot for natural orifice transluminal endoscopic surgery in the dual‐manipulator collaborative space

“…The normal Denavit–Hartenberg (D‐H) cannot solve the continuum's kinematics due to the absence of rigid joints. Therefore, the modified D‐H method 29 was used for modeling based on the assumption of equal curvature 30 . The D‐H parameters between each joint are shown in Table 1, where joints 2, 3, 4, and 5 are the equivalent joints of the continuum manipulator.…”

Feedback control of cable-driven continuum robot based on flexible perception

“…CDCR make it possible to install motors on the base, realize the lightweight of flexible manipulator and increase its capacity, so it is more suitable for complex operation and human-computer interaction. With excellent characteristics, CDCR have a wide range of potential applications: It can perform drilling, gluing and other operations in narrow working environments such as aircraft wing partition [2]; In the field of safety services, it can deal with maintenance of cooling pipelines in nuclear power plants and rescue missions for trapped people in collapsed buildings [3]; In the military field, target reconnaissance can be carried out by bending pipes or obstacles [4]; In the medical field, it can also be used as an important tool for minimally invasive surgery to examine human organs and perform minimally invasive surgery [5][6].…”