A Telescopic Tendon-Driven Needle Robot for Minimally Invasive Neurosurgery.

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2023-10-01 Epub Date: 2023-12-13 DOI:10.1109/iros55552.2023.10341660

Saeed Rezaeian, Behnam Badie, Jun Sheng

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Abstract

This paper presents the design, characterization, and testing of a steerable needle robot for minimally invasive neurosurgery. The robot consists of a rigid outer tube and two telescopic tendon-driven steerable tubes. Through the rotation, translation, and bending of individual tubes, this telescopic tendon-driven needle robot can perform dexterous motion and follow the path of the tip. We presented the design of the needle robot and its actuation system, modeling of the robotic kinematics, characterization of the robot motion, results of the open-loop kinematic control, and demonstration of the follow-the-leader motion. The position error of the robot tip is 0.92 mm, and follow-the-leader motion error is 1.1 mm. Due to its small footprint and unique motion ability, the robot has the potential to be manipulated inside human brain and used for minimally invasive neurosurgery.

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用于微创神经外科手术的伸缩式腱驱动针机器人。

本文介绍了用于微创神经外科手术的可转向针式机器人的设计、特性分析和测试。该机器人由一根刚性外管和两根伸缩腱驱动的可转向管组成。通过单个管子的旋转、平移和弯曲，这种伸缩腱驱动的进针机器人可以进行灵巧的运动并跟随针尖的路径。我们介绍了植针机器人及其驱动系统的设计、机器人运动学建模、机器人运动特性分析、开环运动学控制结果以及跟随尖端运动的演示。机器人尖端的位置误差为 0.92 毫米，跟随领导者运动误差为 1.1 毫米。由于该机器人体积小、运动能力独特，因此有可能在人脑内部进行操作，用于微创神经外科手术。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems

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