Analysis of a concentric-tube robot design and feasibility for endoscopic deployment

Ryan Ponten; Caroline B. Black; Andrew J. Russ; D. Caleb Rucker

doi:10.1117/12.2254892

3 March 2017 Analysis of a concentric-tube robot design and feasibility for endoscopic deployment

Ryan Ponten, Caroline B. Black, Andrew J. Russ, D. Caleb Rucker

Proceedings Volume 10135, Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling; 1013514 (2017) https://doi.org/10.1117/12.2254892
Event: SPIE Medical Imaging, 2017, Orlando, Florida, United States

Abstract

An intraluminal endoscopic approach is desirable for most colonoscopic procedures and is growing in favor for other surgeries as tools are enhanced. Flexible robotic manipulators could further enhance the dexterity and precision of commercial endoscopic systems. In this paper, we explore the capabilities of concentric tube robots to work as tool manipulators at the tip of a colonoscope to perform endoscopic submucousal dissection (ESD) and endoscopic full thickness resection (EFTR). We provide an overview of the kinematic modeling of these manipulators, a design of a prototype manipulator and the transmission actuation system. Our analysis examines the workspace and stiffness of these manipulators being controlled at the tip of a colonoscope. We compare the results to reported surgical requirements and propose solutions for enhancing their effectiveness including notching tubes with a larger Young’s Modulus. We also determine the resolution and accuracy of the actuation system.

Conference Presentation

Citation Download Citation

Ryan Ponten, Caroline B. Black, Andrew J. Russ, and D. Caleb Rucker "Analysis of a concentric-tube robot design and feasibility for endoscopic deployment", Proc. SPIE 10135, Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling, 1013514 (3 March 2017); https://doi.org/10.1117/12.2254892

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