Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery
Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery
复制标题
DOI：
10.1109/tro.2020.3043668
复制
发表时间：
2021-08-01
影响因子：
7.8
通讯作者：
Morimoto, Tania K.
中科院分区：
文献类型：
--
作者：
Girerd, Cedric;Morimoto, Tania K.
微创手术是介入医学非常感兴趣的，因为较小的切口可以减少患者的疼痛和更快的恢复。目前的护理标准包括一系列负担得起的、手动的、手持的刚性工具，这些工具的灵活性和可采用的形状范围有限，无法进入受限的空间。相比之下，最近开发的机器人工具可以提供更高的可访问性和灵活性，以导航和执行复杂的任务，但往往是以更大、更重和接地的远程操作设备为代价的，这带来了一系列新的挑战。在本文中，我们提出了一种新的手持式同心管机器人及其相关的位置控制方法，该方法具有大型机器人化设备的灵巧性和精度，同时保持传统手持式工具的占地面积。该设备显示人在环控制性能，满足目标应用，经皮脓肿引流的要求。此外，一项小型用户研究说明了将设备的刚体运动与更精确的尖端运动相结合的优势，从而显示了弥合传统手持工具和接地机器人设备之间差距的潜力。
Minimally invasive surgery is of high interest for interventional medicine since the smaller incisions can lead to less pain and faster recovery for patients. The current standard-of-care involves a range of affordable, manual, hand-held rigid tools, whose limited dexterity and range of adoptable shapes can prevent access to confined spaces. In contrast, recently developed roboticized tools that can provide increased accessibility and dexterity to navigate and perform complex tasks often come at the cost of larger, heavier, and grounded devices that are teleoperated, posing a new set of challenges. In this article, we propose a new hand-held concentric tube robot with an associated position control method that has the dexterity and precision of large roboticized devices, while maintaining the footprint of a traditional hand-held tool. The device shows human-in-the-loop control performance that meets the requirements of the targeted application, percutaneous abscess drainage. In addition, a small user study illustrates the advantage of combining rigid body motion of the device with more precise motions of the tip, thus showing the potential to bridge the gap between traditional hand-held tools and grounded robotic devices.