TY - GEN
T1 - Ergonomics-based Design of Handheld Concentric Tube Robot
AU - Xue, Liang
AU - Yang, Xing
AU - Zhang, Chao
AU - Song, Shuang
AU - Wang, Jiaole
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Concentric tube robots are highly flexible and easy to enter body through natural orifices or small incisions. Therefore, they have great application prospects in the field of minimally invasive surgery. At present, concentric tube robots are usually remotely operated master-slave devices, which are flexible but large and heavy. In this paper, a handheld con-centric tube robot is proposed for nasal cyst drainage surgery. Roller gears are used to make the transmission mechanism more compact for handheld. The introduction of the ball gear mechanism and the ergonomic design of the structure allow the surgeons to use the device more easily and comfortably during surgical tasks. The ball gear mechanism allows the Nitinol tube to be bent from the base, thus greatly extending the workspace of the end-effector. The rotation of the ball joint relieves the user of uncomfortable bending of the wrist and arm to keep the Nitinol tube pointed in a specific position, thus avoiding musculoskeletal pain or injury from long-term use. Ergonomics-based design makes the device more humane and conducive to promotion and use in surgeries. In addition, an intuitive operation pattern is proposed to steer the end-effector position in real time.
AB - Concentric tube robots are highly flexible and easy to enter body through natural orifices or small incisions. Therefore, they have great application prospects in the field of minimally invasive surgery. At present, concentric tube robots are usually remotely operated master-slave devices, which are flexible but large and heavy. In this paper, a handheld con-centric tube robot is proposed for nasal cyst drainage surgery. Roller gears are used to make the transmission mechanism more compact for handheld. The introduction of the ball gear mechanism and the ergonomic design of the structure allow the surgeons to use the device more easily and comfortably during surgical tasks. The ball gear mechanism allows the Nitinol tube to be bent from the base, thus greatly extending the workspace of the end-effector. The rotation of the ball joint relieves the user of uncomfortable bending of the wrist and arm to keep the Nitinol tube pointed in a specific position, thus avoiding musculoskeletal pain or injury from long-term use. Ergonomics-based design makes the device more humane and conducive to promotion and use in surgeries. In addition, an intuitive operation pattern is proposed to steer the end-effector position in real time.
KW - Concentric Tube Robot
KW - Ergonomics
KW - Mecha-nism Design
KW - Surgical Robot
UR - https://www.scopus.com/pages/publications/85147323843
U2 - 10.1109/ROBIO55434.2022.10011984
DO - 10.1109/ROBIO55434.2022.10011984
M3 - 会议稿件
AN - SCOPUS:85147323843
T3 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
SP - 2057
EP - 2062
BT - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Y2 - 5 December 2022 through 9 December 2022
ER -