Macro-Micro Multi-Arm Robot for Single-Port Access Surgery
| Autor: | A. Javaux, T. Vandebroek, Sebastien Ourselin, Tom Vercauteren, Julie Legrand, E. Vander Poorten, C. Gruijthuijsen, M. Ourak, Jan Deprest |
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| Přispěvatelé: | Ourak, Mouloud, Gruijthuijsen, Caspar, Javaux, Allan, Legrand, Julie, Vercauteren, Tom, Ourselin, Sébastien, Deprest, Jan, Vander Poorten, Emmanuel, Applied Mechanics |
| Rok vydání: | 2019 |
| Předmět: |
medicine.medical_specialty
Computer science Single port access ComputerApplications_COMPUTERSINOTHERSYSTEMS Bending Spina bifida repair Surgery 03 medical and health sciences 0302 clinical medicine 030220 oncology & carcinogenesis Invasive surgery medicine Robot 030211 gastroenterology & hepatology Fluidics Macro Decoupling (electronics) |
| Zdroj: | IROS |
| Popis: | Minimally invasive surgery is now a well established field in surgery but continuous efforts are made to reduce invasiveness even further. This paper proposes a novel concept of small-diameter multi-arm robot for SinglePort Access Surgery. The concept introduces a combination of backbone and actuation principles in a macro-micro fashion to achieve an excellent decoupling of the triangulation platform (macro) and of the end-effectors (micro). Concentric tube robots are used for the triangulation platform, while compliant fluidic-actuated bending segments are used as end-effectors. The fluidic actuation is advantageous as it minimally interferes with the triangulation platform. The triangulation platform on the other hand provides a stable base for the end-effectors such that large distal actuation bandwidth can be achieved. A specific embodiment for Spina Bifida repair is developed and proposed. The surgical and technical requirements as well as the mechanical design are presented in details. A first prototype is built and characterization experiments are conducted to evaluate its performance. ispartof: pages:425-432 ispartof: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pages:425-432 ispartof: IEEE/RSJ International Conference on Intelligent Robots and Systems location:Macao, China date:3 Nov - 8 Nov 2019 status: Published online |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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