Design of a Modular, Multi-Arm Concentric Tube Robot Featuring Roller Gears

被引：2

作者：

Florea, Adrian N. ^{[1
]}

Ropella, Dominick S. ^{[1
]}

Amanov, Ernar ^{[1
]}

Herrell, S. Duke, III ^{[2
,3
]}

Webster, Robert J., III ^{[1
,2
,3
]}

机构：

[1] Vanderbilt Univ, Dept Mech Engn, Nashville, TN 37235 USA

[2] Vanderbilt Univ, Med Ctr, Dept Urol, Nashville, TN USA

[3] Vanderbilt Univ, Inst Surg & Engn, Nashville, TN USA

来源：

MEDICAL IMAGING 2022: IMAGE-GUIDED PROCEDURES, ROBOTIC INTERVENTIONS, AND MODELING | 2022年 / 12034卷

关键词：

Surgical Robot; Concentric Tube Robot; Endoscopic Surgery; SURGERY; SYSTEM;

D O I：

10.1117/12.2606834

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

This paper describes the design of a modular concentric tube robot actuation system featuring roller gears. We extended prior work in a single-arm system within the literature to a two-arm system. We present mechanical design and initial performance verification experiments, including two-handed manipulation experiments for the proposed system. The overarching contribution is a modular, potentially low cost, approach to the actuation of multi-arm concentric tube robot systems.

引用

页数：6

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