On the design of a macro-micro parallel manipulator for cochlear microrobot operations

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2024-06-28 DOI:10.1002/rcs.2654

Erkin Gezgin, Alp E. Yaşar, Tuğrul Uslu, Mertcan Koçak, Didem Güzin, Seda Özbek, Gökmen A. Türkmen, Goncagül Karayaman, Rahime Alsanğur, Barış Bıdıklı, Fatih C. Can, Levent Çetin

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引用次数: 0

Abstract

Background

The method of stem cell transfer to narrow cochlear canals in vivo to generate hair cells is still an unclear operation. Thus, the development of any possible method that will ensure the usage of medical microrobots in small cochlear workspaces is a challenging procedure.

Methods

The current study tries to introduce a macro-micro manipulator system composed of a 6-DoF industrial serial manipulator as a macro manipulator and a proposed 5-DoF parallel manipulator with dual end effectors as a micro manipulator carrying permanent magnets for tetherless microrobot actuation inside the cochlea.

Results

Throughout the study, structural synthesis and kinematic analysis of the proposed micro manipulator were introduced. A prototype of the manipulator was manufactured and its hardware verification procedures were carried out using motion capture cameras and surgical navigation registration methodologies.

Conclusions

Following motion training, the assembled macro-micro manipulator was successfully utilised to actuate a microrobot placed inside a manufactured cochlea mockup model.

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关于设计用于耳蜗微型机器人操作的宏微并行机械手

背景：将干细胞转移到体内狭窄的耳蜗管道以生成毛细胞的方法仍是一项不明确的操作。因此，开发任何可能的方法以确保在小型耳蜗工作区使用医疗微型机器人是一项具有挑战性的工作：目前的研究试图引入一种宏观-微观机械手系统，该系统由一个作为宏观机械手的 6-DoF 工业串行机械手和一个作为微观机械手的带双端效应器的拟议 5-DoF 并行机械手组成，微观机械手携带永久磁铁，用于耳蜗内的无系微观机器人驱动：在整个研究过程中，介绍了拟议微型机械手的结构合成和运动学分析。利用运动捕捉摄像机和手术导航注册方法制造了机械手原型，并对其硬件进行了验证：经过运动训练后，组装好的宏观-微观机械手被成功用于驱动放置在耳蜗模型内的微型机器人。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.