Development of a snake-like dexterous manipulator for skull base surgery

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Development of a snake-like dexterous manipulator for skull base surgery
	Suat Coemert; Gao AZ(高安柱); John P. Carey; Mattias F. Traeger; Russell H. Taylor; Tim C. Lueth; Mehran Armand
	2016
会议名称	2016 IEEE 38th Annual International Conference of the Engineering in Medicine and Biology Society (EMBC)
会议日期	Augest 16-20, 2016
会议地点	Orlando, FL, USA
页码	5087-5090
中文摘要	Petrous apex lesions constitute considerable surgical challenges due to their location in the skull base and close relationship with critical structures such as inner ear, carotid arteries, facial nerves and jugular bulb. These lesions often cannot be treated completely with rigid tools due to the limited accessibility. We are aiming to develop a snake-like manipulator to assist surgeons with the infralabyrinthine treatment of petrous apex lesions with increased dexterity. This snake-like dexterous manipulator (SDM) with 3.3 mm outer diameter and 40 mm working length was designed including a tool channel with a diameter of 1.8 mm and an endoscope channel with a diameter of 0.7 mm. The SDM can be actuated in one plane and two directions enabling the C- and S-shaped bends and rotated around its longitudinal axis. The constant curvature modeling was implemented to predict the deflection in one direction. Experiments were carried out with optical microscope to find out different bending modes. Experimental bending modes were in a good agreement with the theoretical ones in terms of the bending behavior. However tip position prediction showed discrepancies up to 1 mm in X and 2 mm in Z axes.
收录类别	EI ; CPCI（ISTP）
产权排序	2
会议录	2016 IEEE 38th Annual International Conference of the Engineering in Medicine and Biology Society (EMBC)
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISSN号	1558-4615
ISBN号	978-1-4577-0219-8
WOS记录号	WOS:000399823505107
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/19552]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Suat Coemert,Gao AZ,John P. Carey,et al. Development of a snake-like dexterous manipulator for skull base surgery[C]. 见:2016 IEEE 38th Annual International Conference of the Engineering in Medicine and Biology Society (EMBC). Orlando, FL, USA. Augest 16-20, 2016.