Design of 3-D Printed Concentric Tube Robots.
Design of 3-D Printed Concentric Tube Robots.
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DOI：
10.1109/tro.2016.2602368
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发表时间：
2016-12
期刊：
影响因子：
--
通讯作者：
Okamura AM
中科院分区：
文献类型：
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作者：
Morimoto TK;Okamura AM
同心管手术机器人是一种微创设备，具有蛇形可重构性、细长外形、驱动装置放置在患者体外等优点。这些机器人还可以设计和制造，以获取特定患者的目标，以最小化侵入性的方式治疗特定疾病。我们建议同心管机器人可以在患者和特定程序的基础上使用3d打印技术制造。在本文中，我们定义了三维打印同心管机器人的设计要求和制造约束，并实验证明了这些机器人的能力。虽然有许多3d打印技术和材料可以用来制造这样的机器人，但一个成功的例子是使用选择性激光烧结用聚醚块酰胺制作外管，并使用立体光刻技术用类似聚丙烯的材料制作内管。这使得管对的预曲率分别为0.0775和0.0455 mm−1，可以承受20%和5.5%的外部和内部管的应变。
Concentric tube surgical robots are minimally invasive devices with the advantages of snake-like reconfigurability, long and thin form factor, and placement of actuation outside the patient’s body. These robots can also be designed and manufactured to acquire targets in specific patients for treating specific diseases in a manner that minimizes invasiveness. We propose that concentric tube robots can be manufactured using 3-D printing technology on a patient- and procedure-specific basis. In this paper, we define the design requirements and manufacturing constraints for 3-D printed concentric tube robots and experimentally demonstrate the capabilities of these robots. While numerous 3-D printing technologies and materials can be used to create such robots, one successful example uses selective laser sintering to make an outer tube with a polyether block amide and uses stereolithography to make an inner tube with a polypropylene-like material. This enables a tube pair with precurvatures of 0.0775 and 0.0455 mm−1, which can withstand strains of 20% and 5.5% for the outer and inner tubes, respectively.