Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Disks
Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Disks
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DOI：
10.1109/lra.2023.3267006
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发表时间：
2023-06
影响因子：
5.2
通讯作者：
Margaret Rox;Daniel E. Esser;Mariana E. Smith;T. Ertop;Maxwell Emerson;Fabien Maldonado;E. Gillaspie;A. Kuntz;R. Webster
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文献类型：
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作者：
Margaret Rox;Daniel E. Esser;Mariana E. Smith;T. Ertop;Maxwell Emerson;Fabien Maldonado;E. Gillaspie;A. Kuntz;R. Webster
为了实现创建具有多个触手状机器人的肺部手术系统的未来目标，我们提出了一种用于连续体机器人的新折叠概念，使它们能够挤压通过小于机器人标称直径的开口（例如，相邻肋之间的狭窄空间）。这是通过使磁盘沿着机器人的骨干folder.We还表明，这样的机器人不仅可以直，而且弯曲的肌腱路由路径，从而实现了不同的家庭的构象。我们发现，可折叠的机器人执行，从运动学的角度来看，一个相同的非折叠连续体机器人在不同的部署长度。这项工作为未来的应用铺平了道路，连续体机器人可以折叠并通过较小的开口，有可能减少手术任务期间的侵入性。
Toward the future goal of creating a lung surgery system featuring multiple tentacle-like robots, we present a new folding concept for continuum robots that enables them to squeeze through openings smaller than the robot's nominal diameter (e.g., the narrow space between adjacent ribs). This is facilitated by making the disks along the robot's backbone foldable.We also demonstrate that such a robot can feature not only straight, but also curved tendon routing paths, thereby achieving a diverse family of conformations. We find that the foldable robot performs comparably, from a kinematic perspective, to an identical non-folding continuum robot at varying deployment lengths. This work paves the way for future applications with a continuum robot that can fold and fit through smaller openings, with the potential to reduce invasiveness during surgical tasks.