Design and Fabrication of Concentric Tube Robots: A Survey
Design and Fabrication of Concentric Tube Robots: A Survey
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DOI：
10.1109/tro.2023.3255512
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发表时间：
2023-03-29
影响因子：
7.8
通讯作者：
Rabenorosoa, Kanty
中科院分区：
文献类型：
--
作者：
Nwafor, Chibundo J.;Girerd, Cedric;Rabenorosoa, Kanty
同心管机器人（CTR）近年来引起了广泛的研究关注，特别是由于其在微创手术（MIS）中的应用。事实上，它们的小尺寸、灵活性和高度灵活性为MIS带来了几个潜在的好处。这项研究在CTR设计、制造、控制和应用方面带来了越来越多的发现和科学突破。许多原型已经出现了不同的研究小组，每一个都有自己的设计和规格。本文概述了CTR的机电一体化方面的最新技术，包括管、致动单元和末端执行器的设计和制造方法。除了各种硬件和相关的制造方法，我们建议研究界，一个统一的方式分类CTR的基础上，他们的驱动单元架构，以及一套规范的细节，用于评估未来的CTR原型。最后，我们还旨在强调CTR设计和制造的当前进展，挑战和前景。
Concentric tube robots (CTRs) have drawn significant research attention over the years, particularly due to their applications in minimally invasive surgery (MIS). Indeed, their small size, flexibility, and high dexterity enable several potential benefits for MIS. The research has led to an increasing number of discoveries and scientific breakthroughs in CTR design, fabrication, control, and applications. Numerous prototypes have emerged from different research groups, each with its own design and specifications. This survey paper provides an overview of the state of the art of the mechatronics aspects of CTRs, including approaches for the design and fabrication of the tubes, actuation unit, and end effector. In addition to the various hardware and associated fabrication methods, we propose to the research community, a unifying way of classifying CTRs based on their actuation unit architecture, as well as a set of specification details for the evaluation of future CTR prototypes. Finally, we also aim to highlight the current advancements, challenges, and perspectives of CTR design and fabrication.