A Dexterous System for Laryngeal Surgery Multi-Backbone Bending Snake-like Slaves for Teleoperated Dexterous Surgical Tool Manipulation
A Dexterous System for Laryngeal Surgery Multi-Backbone Bending Snake-like Slaves for Teleoperated Dexterous Surgical Tool Manipulation
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发表时间：
2004
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通讯作者：
N. Simaan;Hopkins University-ERC-CISST;P. Flint
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作者：
N. Simaan;Hopkins University-ERC-CISST;P. Flint
本文介绍了一种新型的高自由度（自由度）系统的设计概述正在开发的微创手术的喉咙。该系统的设计允许远程操作2-3个具有高尖端灵活性的工具，以实现口腔和软组织操作，同时使用患者的口腔作为唯一的入口。从是一个34自由度的单位配备了三个蛇形远端灵活性单位的手术工具操纵。这些单元中的每一个都是一个多骨干蛇形机构，配备有可拆卸的毫并联机械手，允许使用可互换的工具。本文介绍了蛇形单元的运动学分析的轮廓，并提出了一种可能的驱动冗余解决方案，以允许进一步缩小规模的可扩展性，同时降低蛇形单元的主要骨干屈曲的风险。最后，本文提出了第一个早期实验的原型蛇一样的单位。本文报告了我们的工作，以开发一个高灵活性的机器人系统的微创手术（MIS）的喉咙-器官异常具有挑战性，因为它的形状，长度和复杂性。喉部手术的特点是通过插入病人口腔的狭窄管（喉镜）插入内窥镜和多个长工具。目前的手动器械是笨拙的，难以精确操纵，并且缺乏足够的灵活性以允许常见的外科子任务，例如声带组织。我们的目标是一种具有高远端灵活性的三臂遥控机器人，能够通过喉镜进行缝合和类似的组织操作任务。我们的方法强调远端灵活性单位（DDU）与一个新的设计安装在精确操作，薄的机器人手臂的末端。DDU设计易于扩展到小尺寸，制造简单，
This paper presents a design overview of a novel high DoF (Degrees-of-Freedom) system being developed for minimally invasive surgery of the throat. The system is designed to allow remote operation of 2-3 tools with high tip dexterity to enable suturing and soft-tissue manipulation while using the patient's mouth as the only entry port. The slave is a 34 DoF unit equipped with three snake-like distal dexterity units for surgical tool manipulation. Each of these units is a multi-backbone snake- like mechanism equipped with a detachable milli parallel manipulator allowing interchangeable tools to be used. The paper presents the outline of the kinematic analysis of the snake-like units and proposes one possible actuation redundancy resolution to allow further downsize scalability while reducing the risk of buckling of the primary backbone of the snake-like units. Finally, the paper presents a first early experiment with a prototype of the snake-like unit. This paper reports our work to develop a high-dexterity robotic system for minimally invasive surgery (MIS) of the throat - an organ unusually challenging because of its shape, length, and complexity. Throat surgery is characterized by insertion of endoscopes and multiple long tools through a narrow tube (the laryngoscope) inserted into the patient's mouth. Current manual instrumentation is awkward, hard to manipulate precisely, and lacks sufficient dexterity to permit common surgical subtasks such as suturing vocal fold tissue. Our goal is a three-armed teleoperated robot with high distal dexterity capable of suturing and similar tissue manipulation tasks through the laryngoscope. Our approach emphasizes Distal Dexterity Units (DDU) with a novel design mounted on the end of precisely manipulated, thin robot arms. The DDU design is easily scalable to small sizes, simple to manufacture,