Continuum Robots for Surgical Systems (CROSS)

用于手术系统的 Continuum 机器人 (CROSS)

• 批准号: 230187450
• 负责人: Professorin Dr.-Ing. Jessica Burgner-Kahrs
• 金额: --
• 依托单位: Department of Mathematical & Computational Sciences
• 依托单位国家: 德国
• 项目类别: Independent Junior Research Groups
• 财政年份: 2013
• 资助国家: 德国
• 起止时间: 2012-12-31 至 2018-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/230187450?language=en
• 关键词: Continuum; Robots; Surgical; Systems; CROSS

The Emmy Noether research group CROSS investigates continuum robots for surgical applications. In particular, CROSS research is devoted to a sub category of continuum robots so called Concentric Tube Continuum Robots (CTCR). The manipulators are composed of multiple concentric, pre-bend, and flexible tubes.The state of the art in continuum and medical robotics research will be advanced by CROSS with the following objectives: Explore the diverse design space for patient specific design of the manipulator tubes; Path and deployment planning; Sensing methods; Assistive functions and a dedicated human machine interface for the surgeon. In addition CROSS will integrate these objectives into a surgical system.An important benefit of this new robot type is the inherent patient safety provided by the flexible manipulator tubes. In addition, they enable the surgeon to work around corners and obstacles while maintaining a free inner lumen for instrumentation. At the time of this writing CTCR research focusses mainly on the development of accurate kinematic models and actuation mechanisms. In contrast and complementary CROSS addresses research for continuum robotics with emphasis on medical technology and computer science. CROSS establishes concentric tube continuum robotics research in Germany and Europe.

Emmy Noether研究小组CROSS研究了用于外科手术的连续体机器人。特别是，CROSS研究致力于连续体机器人的一个子类别，称为同心管连续体机器人（CTCR）。该机械手由多个同心、预弯曲和柔性管组成。CROSS将推进连续体和医疗机器人研究的最新技术，其目标如下：探索机械手管患者特定设计的多样化设计空间;路径和部署规划;传感方法;辅助功能和外科医生专用的人机界面。此外，CROSS将把这些目标整合到手术系统中。这种新型机器人的一个重要优点是，灵活的操纵管提供了固有的患者安全性。此外，它们使外科医生能够绕过拐角和障碍物，同时保持器械的自由内腔。在撰写本文时，CTCR的研究主要集中在精确的运动模型和驱动机制的发展。与此相反，互补的CROSS致力于连续体机器人技术的研究，重点是医疗技术和计算机科学。CROSS在德国和欧洲建立了同心管连续体机器人研究。

项目成果

Computer-assisted planning for a concentric tube robotic system in neurosurgery

• DOI: 10.1007/s11548-018-1890-8
• 发表时间: 2018-11
• 期刊: International Journal of Computer Assisted Radiology and Surgery
• 影响因子: 3
• 作者: J. Granna;A. Nabavi;J. Burgner-Kahrs

How Can the Characteristics of Continuum Robots Be Optimized for a Specific Medical Application

如何针对特定的医疗应用优化 Continuum 机器人的特性

• DOI: 10.21036/ltpub10324
• 发表时间: 2017
• 期刊: Latest Thinking
• 作者: J. Burgner-Kahrs

Continuum Robots for Medical Applications: A Survey

• DOI: 10.1109/tro.2015.2489500
• 发表时间: 2015-12-01
• 期刊: IEEE TRANSACTIONS ON ROBOTICS
• 影响因子: 7.8
• 作者: Burgner-Kahrs, Jessica;Rucker, D. Caleb;Choset, Howie
• 通讯作者: Choset, Howie

Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot

使用 Continuum 机器人进行远程机器人经鼻手术的听觉显示

• DOI: 10.1142/s2424905x19500041
• 发表时间: 2019
• 期刊: J. Medical Robotics Res.
• 作者: D. Black;S. Lilge;C. Fellmann;A.V. Reinschluessel;L. Kreuer;A. Nabavi;H. K. Hahn;R. Kikinis;J. Burgner-Kahrs
• 通讯作者: J. Burgner-Kahrs

Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot With Three Extensible Segments

• DOI: 10.1109/lra.2019.2893610
• 发表时间: 2019-04-01
• 期刊: IEEE ROBOTICS AND AUTOMATION LETTERS
• 影响因子: 5.2
• 作者: Chikhaoui, Mohamed Taha;Lilge, Sven;Burgner-Kahrs, Jessica
• 通讯作者: Burgner-Kahrs, Jessica