Design of a multi-arm concentric-tube robot system for transnasal surgery

Wang, Jie; Yang, Xing; Song, Shuang; Liu, Li; Meng, Max Q.-H.

doi:10.1007/s11517-019-02093-9

Cited by 28 publications

(22 citation statements)

References 21 publications

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“…It contained one active vision channel and two manipulation channels constrained by a 10 mm sheath. Compared with the CR in, 44 the proposed design (Figure 9C) in 43 made the manipulators more flexible. The vision arm and the operation arm were designed with two tubes and three tubes, respectively.…”

Section: Continuum Robots For Essmentioning

confidence: 99%

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Continuum robots for endoscopic sinus surgery: Recent advances, challenges, and prospects

Cao

Shi

Hong

et al. 2022

Robotics Computer Surgery

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Purpose Endoscopic sinus surgery (ESS) has been recognized as an effective treatment modality for paranasal sinus diseases. Over the past decade, continuum robots (CRs) for ESS have been studied, but there are still some challenges. This paper presents a review on the scientific studies of CRs for ESS. Methods Based on the analysis of the anatomical structure of the paranasal sinus, the requirements of CRs for ESS are discussed. Recent studies on rigid robots, handheld flexible robots, and CRs for ESS are presented. Surgical path planning, navigation, and control are also included. Results Concentric tube CRs and cable‐driven CRs have great potential for applications in ESS. The CRs incorporated with multiple replaceable arms with different functions are preferable in ESS. Conclusion Further study on navigation and control is required to improve the performance of CRs for ESS.

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Section: Continuum Robots For Essmentioning

confidence: 99%

“…(B) A multi‐arm concentric tube CR for orbital tumors 42 (Copyright ⓒ 2021, SAGE). (C) A multi‐arm concentric tube robot system for transnasal surgery 43 (Copyright ⓒ 2020, International Federation for Medical and Biological Engineering).…”

Section: Continuum Robots For Essmentioning

confidence: 99%

Continuum robots for endoscopic sinus surgery: Recent advances, challenges, and prospects

Cao

Shi

Hong

et al. 2022

Robotics Computer Surgery

View full text Add to dashboard Cite

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“…One of its main research disciplines concerns the development of tele-operated robotic platforms. These platforms often employ concentric tube robots (CTR), 6 , 38 , 40 since their small diameter can help reach inaccessible areas inside the constrained surgical workspace at the base of the brain. However, some of the main issues associated with CTRs in surgery are their distal-end dexterity and force-delivery capabilities.…”

Section: Introductionmentioning

confidence: 99%

Robotic Handle Prototypes for Endoscopic Endonasal Skull Base Surgery: Pre-clinical Randomised Controlled Trial of Performance and Ergonomics

et al. 2022

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Endoscopic endonasal skull base surgery is a promising alternative to transcranial approaches. However, standard instruments lack articulation, and thus, could benefit from robotic technologies. The aim of this study was to develop an ergonomic handle for a handheld robotic instrument intended to enhance this procedure. Two different prototypes were developed based on ergonomic guidelines within the literature. The first is a forearm-mounted handle that maps the surgeon’s wrist degrees-of-freedom to that of the robotic end-effector; the second is a joystick-and-trigger handle with a rotating body that places the joystick to the position most comfortable for the surgeon. These handles were incorporated into a custom-designed surgical virtual simulator and were assessed for their performance and ergonomics when compared with a standard neurosurgical grasper. The virtual task was performed by nine novices with all three devices as part of a randomised crossover user-study. Their performance and ergonomics were evaluated both subjectively by themselves and objectively by a validated observational checklist. Both handles outperformed the standard instrument with the rotating joystick-body handle offering the most substantial improvement in terms of balance between performance and ergonomics. Thus, it is deemed the more suitable device to drive instrumentation for endoscopic endonasal skull base surgery.

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“…Concentric-tube-driven continuous robots are composed of a special alloy, which realizes the bending of the robot by controlling the deformation of the alloy. Wang et al designed a three-arm concentric tube robot, which was used in nasopharyngeal carcinoma surgery [ 10 ]. Rone designed a super-elastic rod continuous robot composed of eight discs [ 11 ].…”

Section: Introductionmentioning

confidence: 99%

Design and Experimental Study of Space Continuous Robots Applied to Space Non-Cooperative Target Capture

et al. 2021

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Space capture actuators face problems such as insufficient flexibility and electrical components that are vulnerable to extreme space environments. To address these problems, a centralized-driven flexible continuous robot based on a multiple scissor mechanism units is proposed in this study. The continuous robot body is composed of two scissor mechanism units coupled in series, and the base container’s three motors to drive the robot. The two scissor mechanism units ensure a wide range of flexible operations and the light weight of the robot. The centralized drive with three motors not only reduces the number of driving sources, but also ensures temperature control and protection of electrical components in the space environment. The kinematics and dynamics of the robot are analyzed, and the workspace and deformation performance of the robot are verified through experiments. Compared with other continuous robots, the proposed continuous robot retains the characteristics of continuous robots in a wide range of flexible operations. At the same time, the configuration is light and a small number of driving sources are used, which is suitable for extreme temperatures, vacuum, radiation, and strict resource-constrained environments in space.

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Design of a multi-arm concentric-tube robot system for transnasal surgery

Cited by 28 publications

References 21 publications

Continuum robots for endoscopic sinus surgery: Recent advances, challenges, and prospects

Continuum robots for endoscopic sinus surgery: Recent advances, challenges, and prospects

Robotic Handle Prototypes for Endoscopic Endonasal Skull Base Surgery: Pre-clinical Randomised Controlled Trial of Performance and Ergonomics

Design and Experimental Study of Space Continuous Robots Applied to Space Non-Cooperative Target Capture

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