Design and fabrication of a disposable micro end effector for concentric tube robots
Design and fabrication of a disposable micro end effector for concentric tube robots
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同心管机器人一次性微型末端执行器的设计与制造
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
Liao Wu
中科院分区：
文献类型：
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作者：
Abigyat B. Prasai;A. Jaiprakash;A. Pandey;R. Crawford;Jonathan M. Roberts;Liao Wu
传统的同心管机器人尖端灵巧度较低，不适合微创手术中复杂操作的要求。设计并制造了一种直径为2mm的电缆驱动微型末端执行器，以增加在密闭空间中的灵活性。末端执行器是由一个简单的制造过程，是现成的材料，如聚烯烃管，丙烯酸和钢串的组合。如果大规模生产，末端执行器有可能被制成一次性使用的医疗工具。本文讨论了末端执行器的几何设计、制作工艺和受力分析。在样机上进行了实验，验证了推导结果。此外，还围绕末端执行器的使用进行了案例讨论。
Conventional concentric tube robots (CTRs) have low dexterity at the tip, which does not fit the requirements of complicated operations in minimally invasive surgery. A 2mm diameter cable-driven micro end effector is designed and fabricated for CTRs to increase dexterity in confined spaces. The end-effector is made by a simple fabrication procedure and is a combination of readily available materials such as polyolefin tube, acrylic and steel strings. If mass produced, the end effector has the potential to be made into a single use disposable medical tool. This paper discusses the geometric design, fabrication process and force analysis of the end effector. Experiments are conducted on the prototype to validate the derivation. In addition, cases are discussed around the use of the end effector.