Innovations in the field of continuum robotics are enabling increasingly thin and dexterous slave robots in surgical telemanipulation systems. Actuation of these robots is a challenge, because many degrees of freedom must be controlled simultaneously in a compact and unobtrusive package in the operating room. While significant progress in designing these actuation units has been made for both larger, non-medical continuum robots, and for certain types of surgical continuum robots, the design of clinically-relevant actuation units for concentric tube robots is a comparatively understudied area of research. To address this, in this paper we present the design of a robot intended to deliver four concentric tube manipulators simultaneously through a single nostril. We present the considerations that motivated the design and the prototype we have constructed to meet these needs.
- Dynamic Systems and Control Division
Design of a Quadramanual Robot for Single-Nostril Skull Base Surgery
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Swaney, PJ, Croom, JM, Burgner, J, Gilbert, HB, Rucker, DC, Webster, RJ, III, Weaver, KD, & Russell, PT, III. "Design of a Quadramanual Robot for Single-Nostril Skull Base Surgery." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 387-393. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8536
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