A Dual-Arm Concentric-Tube Robot System for Transnasal Surgery

Guangdu Cen; Chao Zhang; Xing Yang; Ang Zhang; Jiaole Wang; Shuang Song

doi:10.1016/j.procs.2022.10.101

A Dual-Arm Concentric-Tube Robot System for Transnasal Surgery

Guangdu Cen
, Chao Zhang
, Xing Yang
, Ang Zhang
, Jiaole Wang^*
, Shuang Song^*

^*Corresponding author for this work

Harbin Institute of Technology Shenzhen
Chinese University of Hong Kong

Research output: Contribution to journal › Conference article › peer-review

4 Scopus citations

Abstract

This paper proposes a novel dual-arm concentric-tube robot (CTR) system in transnasal minimally-invasive surgery (MIS) of nasopharyngeal carcinoma (NPC) resection. Firstly, the design of the robot system is described including the manipulators that consist of NiTi tubes, the modular actuation unit modules, the bending unit constraining the robot into a Y-shaped configuration, and optimization of the Y-shaped transmission system. Then, the kinematic model of CTR is introduced and a bimanual teleoperation approach is presented based on it. Finally, a performance test experiment and a tumor resection experiment have been successfully carried out based on the robot prototype, which show the feasibility of the proposed dual-arm CTR system in transnasal MIS of NPC resection.

Original language	English
Pages (from-to)	84-92
Number of pages	9
Journal	Procedia Computer Science
Volume	209
DOIs	https://doi.org/10.1016/j.procs.2022.10.101
State	Published - 2022
Externally published	Yes
Event	2022 International Symposium on Biomimetic Intelligence and Robotics, ISBIR 2022 - Yunnan, China Duration: 26 Jul 2022 → 29 Jul 2022

Keywords

Bimanual teleoperation
Concentric-tube robot
Transmission system
Transnasal surgery

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10.1016/j.procs.2022.10.101

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@article{695e760f3fad4833b9a123c6eb80e09c,

title = "A Dual-Arm Concentric-Tube Robot System for Transnasal Surgery",

abstract = "This paper proposes a novel dual-arm concentric-tube robot (CTR) system in transnasal minimally-invasive surgery (MIS) of nasopharyngeal carcinoma (NPC) resection. Firstly, the design of the robot system is described including the manipulators that consist of NiTi tubes, the modular actuation unit modules, the bending unit constraining the robot into a Y-shaped configuration, and optimization of the Y-shaped transmission system. Then, the kinematic model of CTR is introduced and a bimanual teleoperation approach is presented based on it. Finally, a performance test experiment and a tumor resection experiment have been successfully carried out based on the robot prototype, which show the feasibility of the proposed dual-arm CTR system in transnasal MIS of NPC resection.",

keywords = "Bimanual teleoperation, Concentric-tube robot, Transmission system, Transnasal surgery",

author = "Guangdu Cen and Chao Zhang and Xing Yang and Ang Zhang and Jiaole Wang and Shuang Song",

note = "Publisher Copyright: {\textcopyright} 2022 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0) Peer-review under responsibility of the scientific committee of the Proceedings of International Symposium on Biomimetic Intelligence and Robotics.; 2022 International Symposium on Biomimetic Intelligence and Robotics, ISBIR 2022 ; Conference date: 26-07-2022 Through 29-07-2022",

year = "2022",

doi = "10.1016/j.procs.2022.10.101",

language = "英语",

volume = "209",

pages = "84--92",

journal = "Procedia Computer Science",

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T1 - A Dual-Arm Concentric-Tube Robot System for Transnasal Surgery

AU - Cen, Guangdu

AU - Zhang, Chao

AU - Yang, Xing

AU - Zhang, Ang

AU - Wang, Jiaole

AU - Song, Shuang

N1 - Publisher Copyright: © 2022 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0) Peer-review under responsibility of the scientific committee of the Proceedings of International Symposium on Biomimetic Intelligence and Robotics.

PY - 2022

Y1 - 2022

N2 - This paper proposes a novel dual-arm concentric-tube robot (CTR) system in transnasal minimally-invasive surgery (MIS) of nasopharyngeal carcinoma (NPC) resection. Firstly, the design of the robot system is described including the manipulators that consist of NiTi tubes, the modular actuation unit modules, the bending unit constraining the robot into a Y-shaped configuration, and optimization of the Y-shaped transmission system. Then, the kinematic model of CTR is introduced and a bimanual teleoperation approach is presented based on it. Finally, a performance test experiment and a tumor resection experiment have been successfully carried out based on the robot prototype, which show the feasibility of the proposed dual-arm CTR system in transnasal MIS of NPC resection.

AB - This paper proposes a novel dual-arm concentric-tube robot (CTR) system in transnasal minimally-invasive surgery (MIS) of nasopharyngeal carcinoma (NPC) resection. Firstly, the design of the robot system is described including the manipulators that consist of NiTi tubes, the modular actuation unit modules, the bending unit constraining the robot into a Y-shaped configuration, and optimization of the Y-shaped transmission system. Then, the kinematic model of CTR is introduced and a bimanual teleoperation approach is presented based on it. Finally, a performance test experiment and a tumor resection experiment have been successfully carried out based on the robot prototype, which show the feasibility of the proposed dual-arm CTR system in transnasal MIS of NPC resection.

KW - Bimanual teleoperation

KW - Concentric-tube robot

KW - Transmission system

KW - Transnasal surgery

UR - https://www.scopus.com/pages/publications/85144007082

U2 - 10.1016/j.procs.2022.10.101

DO - 10.1016/j.procs.2022.10.101

M3 - 会议文章

AN - SCOPUS:85144007082

SN - 1877-0509

VL - 209

SP - 84

EP - 92

JO - Procedia Computer Science

JF - Procedia Computer Science

T2 - 2022 International Symposium on Biomimetic Intelligence and Robotics, ISBIR 2022

Y2 - 26 July 2022 through 29 July 2022

ER -

A Dual-Arm Concentric-Tube Robot System for Transnasal Surgery

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Keywords

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