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4 April 2022 Design of a modular, multi-arm concentric tube robot featuring roller gears
Adrian N. Florea, Dominick S. Ropella, Ernar Amanov, S. Duke Herrell III, Robert J. Webster III
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Proceedings Volume 12034, Medical Imaging 2022: Image-Guided Procedures, Robotic Interventions, and Modeling; 1203408 (2022) https://doi.org/10.1117/12.2606834
Event: SPIE Medical Imaging, 2022, San Diego, California, United States
Abstract
This paper describes the design of a modular concentric tube robot actuation system featuring roller gears. We extended prior work in a single-arm system within the literature to a two-arm system. We present mechanical design and initial performance verification experiments, including two-handed manipulation experiments for the proposed system. The overarching contribution is a modular, potentially low cost, approach to the actuation of multi-arm concentric tube robot systems.
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Adrian N. Florea, Dominick S. Ropella, Ernar Amanov, S. Duke Herrell III, and Robert J. Webster III "Design of a modular, multi-arm concentric tube robot featuring roller gears", Proc. SPIE 12034, Medical Imaging 2022: Image-Guided Procedures, Robotic Interventions, and Modeling, 1203408 (4 April 2022); https://doi.org/10.1117/12.2606834
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KEYWORDS
Surgery
Robotic systems
Endoscopes
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