Development of a continuum manipulator with variable bending length and piecewise stiffness for transoral laryngeal surgery.

Autor: Yang W; Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, 200030, China., Cao Y; Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, 200030, China., Wang S; Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, 200030, China., Liu Z; Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, 200030, China., Cheng H; Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, 200030, China., Xie L; Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai, 200030, China. lexie@sjtu.edu.cn.; Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, 200240, China. lexie@sjtu.edu.cn.
Jazyk: angličtina
Zdroj: International journal of computer assisted radiology and surgery [Int J Comput Assist Radiol Surg] 2024 Sep; Vol. 19 (9), pp. 1809-1820. Date of Electronic Publication: 2024 May 29.
DOI: 10.1007/s11548-024-03194-z
Abstrakt: Purpose: Continuum manipulators (CMs) show great potential in transoral laryngeal surgery due to their flexibility. However, CMs for transoral surgery face several issues: large size, which reduces practicality; intersegment coupling, which causes undesired deflection; and a lack of versatility that limits their applicability across different patient groups.
Methods: This work combines a rod-driven proximal segment and a cable-driven distal segment to achieve piecewise stiffness, alleviating the issue of intersegment coupling. A rigid constraint tube is integrated into the proximal segment to diversify its bending behavior. Preliminary experiments are conducted to validate the design concept.
Results: The proposed CM has an overall diameter of only 6.5 mm. The proximal segment can achieve a 90° bending with various curvatures. At the working configuration, the coupling error between the proximal segment and the distal segment is less than 1 mm. The effectiveness of the proposed CM is successfully validated using a human model.
Conclusion: The proposed continuum manipulator possesses the desirable characteristics of small size, low coupling, and high versatility, indicating its great potentialities for the diagnosis and treatment of laryngeal lesion.
(© 2024. CARS.)
Databáze: MEDLINE
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