Design of a Modular, Multi-Arm Concentric Tube Robot Featuring Roller Gears

被引：2
|
作者：
Florea, Adrian N. [1 ]
Ropella, Dominick S. [1 ]
Amanov, Ernar [1 ]
Herrell, S. Duke, III [2 ,3 ]
Webster, Robert J., III [1 ,2 ,3 ]
机构：
[1] Vanderbilt Univ, Dept Mech Engn, Nashville, TN 37235 USA
[2] Vanderbilt Univ, Med Ctr, Dept Urol, Nashville, TN USA
[3] Vanderbilt Univ, Inst Surg & Engn, Nashville, TN USA
来源：
MEDICAL IMAGING 2022: IMAGE-GUIDED PROCEDURES, ROBOTIC INTERVENTIONS, AND MODELING | 2022年 / 12034卷
关键词：
Surgical Robot; Concentric Tube Robot; Endoscopic Surgery; SURGERY; SYSTEM;
D O I：
10.1117/12.2606834
中图分类号：
R318 [生物医学工程];
学科分类号：
0831 ;
摘要：
This paper describes the design of a modular concentric tube robot actuation system featuring roller gears. We extended prior work in a single-arm system within the literature to a two-arm system. We present mechanical design and initial performance verification experiments, including two-handed manipulation experiments for the proposed system. The overarching contribution is a modular, potentially low cost, approach to the actuation of multi-arm concentric tube robot systems.
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页数：6
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