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.

引用

页数：6

共 50 条

[31] A web application for the design of multi-arm clinical trials
Grayling, Michael J.
Wason, James M. S.
BMC CANCER, 2020, 20 (01)
[32] A web application for the design of multi-arm clinical trials
Michael J. Grayling
James MS. Wason
BMC Cancer, 20
[33] FEASIBILITY AND OPTIMAL SETTING OF ROBOT-ASSISTED PARTIAL NEPHRECTOMY USING A NOVEL MULTI-ARM, MODULAR ROBOTIC PLATFORM
Bravi, Carlo Andrea
Sarchi, Luca
Mottaran, Angelo
Piazza, Pietro
Meza, Fernando Gonzalez
Corsetti, Marco
Knipper, Sophie
Paciotti, Marco
Amato, Marco
Farinha, Rui
Puliatti, Stefano
Scarcella, Simone
De Naeyer, Geert
De Groote, Ruben
Mottrie, Alexandre
JOURNAL OF UROLOGY, 2022, 207 (05): : E870 - E870
[34] Path Planning and Collision Avoidance for a Multi-Arm Space Maneuverable Robot
Chu, Xiaoyu
Hu, Quan
Zhang, Jingrui
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2018, 54 (01) : 217 - 232
[35] Dynamics and Control of a Reconfigurable Multi-Arm Robot for In-Orbit Assembly
Mishra, Hrishik
De Stefano, Marco
Ott, Christian
IFAC PAPERSONLINE, 2022, 55 (20): : 235 - 240
[36] Dexterity control of multi-arm sorting robot based on machine learning
Pan L.
International Journal of Manufacturing Technology and Management, 2024, 38 (01) : 81 - 94
[37] A Model of Collision-Detection for Maxillofacial Multi-arm Surgery Robot
Zhu, Xiang-yu
Duan, Xing-guang
Chen, Chao
Liu, Tian-bo
Guo, Qing-bo
2012 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS (ICAL), 2012, : 539 - 544
[38] Optimal design for multi-arm multi-stage clinical trials
James MS Wason
Thomas Jaki
Trials, 12 (Suppl 1)
[39] Design and monitoring of multi-arm multi-stage clinical trials
Ghosh, Pranab
Liu, Lingyun
Senchaudhuri, P.
Gao, Ping
Mehta, Cyrus
BIOMETRICS, 2017, 73 (04) : 1289 - 1299
[40] Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications
Hoffman, Enrico Mingo
Laurenzi, Arturo
Ruscelli, Francesco
Rossini, Luca
Baccelliere, Lorenzo
Antonucci, Davide
Margan, Alessio
Guria, Paolo
Migliorini, Marco
Cordasco, Stefano
Raiola, Gennaro
Muratore, Luca
Estremera Rodrigo, Joaquin
Rusconi, Andrea
Sangiovanni, Guido
Tsagarakis, Nikos G.
2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2023), 2023, : 11887 - 11893

← 1 2 3 4 5 →