Continuum Robots for Surgical Systems (CROSS)

艾美诺特研究小组交叉研究用于外科应用的连续体机器人。特别是，交叉研究致力于连续体机器人的一个子类别，即同心管连续体机器人(CTCR)。机械手由多个同心、预弯和柔性管组成。连续介质和医疗机器人研究的最新水平将通过以下目标来推进：探索针对患者特定设计的机械手管的不同设计空间；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一个手术系统中。这种新型机器人的一个重要好处是由柔性操作器管提供的固有的患者安全。此外，它们使外科医生能够绕过角落和障碍物，同时保持自由的内腔供器械使用。在撰写本文时，CTCR的研究主要集中在开发精确的运动学模型和执行机构上。相反，补充性十字强调对连续统机器人的研究，重点是医疗技术和计算机科学。克罗斯在德国和欧洲建立了同心管连续体机器人研究。

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.