Development of a snake-like dexterous manipulator for skull base surgery
Development of a snake-like dexterous manipulator for skull base surgery
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DOI：
10.1109/embc.2016.7591871
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发表时间：
2016-08
期刊：
影响因子：
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通讯作者：
Suat Coemert;Anzhu Gao;J. Carey;M. F. Traeger;R. Taylor;T. Lüth;Mehran Armand
中科院分区：
文献类型：
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作者：
Suat Coemert;Anzhu Gao;J. Carey;M. F. Traeger;R. Taylor;T. Lüth;Mehran Armand
由于岩尖病变位于颅底，与内耳、颈动脉、面神经和颈静脉球等重要结构关系密切，因此岩尖病变构成了相当大的手术挑战。由于可及性有限，这些病变通常无法用刚性工具完全治疗。我们的目标是开发一种蛇形机械手，以帮助外科医生在岩尖病变的治疗中提高灵活性。设计了一种外径为3.3 mm、工作长度为40 mm的蛇形灵巧机械手（SDM），包括一个直径为1.8 mm的工具通道和一个直径为0.7 mm的内窥镜通道。SDM可以在一个平面和两个方向上驱动，实现C形和S形弯曲，并绕其纵向轴线旋转。采用常曲率模型预测单向挠度。在光学显微镜下进行实验，找出不同的弯曲模式。在弯曲行为方面，实验弯曲模式与理论弯曲模式吻合得很好。然而，头端位置预测显示X轴上的差异高达1 mm，Z轴上的差异高达2 mm。
Petrous apex lesions constitute considerable surgical challenges due to their location in the skull base and close relationship with critical structures such as inner ear, carotid arteries, facial nerves and jugular bulb. These lesions often cannot be treated completely with rigid tools due to the limited accessibility. We are aiming to develop a snake-like manipulator to assist surgeons with the infralabyrinthine treatment of petrous apex lesions with increased dexterity. This snake-like dexterous manipulator (SDM) with 3.3 mm outer diameter and 40 mm working length was designed including a tool channel with a diameter of 1.8 mm and an endoscope channel with a diameter of 0.7 mm. The SDM can be actuated in one plane and two directions enabling the C- and S-shaped bends and rotated around its longitudinal axis. The constant curvature modeling was implemented to predict the deflection in one direction. Experiments were carried out with optical microscope to find out different bending modes. Experimental bending modes were in a good agreement with the theoretical ones in terms of the bending behavior. However tip position prediction showed discrepancies up to 1 mm in X and 2 mm in Z axes.