Nasopharyngeal carcinoma is a malignant tumor originating from the nasal mucosa. It is a malignanttumor of the head and neck. Concentric tube robot (CTR), as it can form a complicated shape and access hardto-reach les...Nasopharyngeal carcinoma is a malignant tumor originating from the nasal mucosa. It is a malignanttumor of the head and neck. Concentric tube robot (CTR), as it can form a complicated shape and access hardto-reach lesions, is often used in minimally invasive surgeries. However, some CTRs are bulky because of theirtransmission design. In this paper, a light CTR based on double-threaded helical gear tube is proposed. Sucha CTR is less cumbersome than the traditional CTR as its actuation unit is compact and miniaturized. Themapping relationship between the gear tube attitude and motor output angle is obtained by kinematic analysis.The precision, stability, and repeatability of the driving mechanism are tested. The experimental results showthat the positioning error in the translation test is less than 0.3 mm, the rolling angle error in the stability testis less than 0.6◦, and the error in the translation repeatability test is less than 0.005 mm. Finally, a tip-targetingtest is performed using the new CTR, which verifies the feasibility of the CTR for surgeries.展开更多
基金the Project of Smart Medical Innovation and Technology Center of Guangdong University of Technology(No.ZZYZX22031)the Youth Innovative Talents Project of Guangdong Province(No.2019GKQNCX035)the Featured Innovation Projects of General Colleges and Universities in Guangdong Province(No.2021KTSCX220)。
文摘Nasopharyngeal carcinoma is a malignant tumor originating from the nasal mucosa. It is a malignanttumor of the head and neck. Concentric tube robot (CTR), as it can form a complicated shape and access hardto-reach lesions, is often used in minimally invasive surgeries. However, some CTRs are bulky because of theirtransmission design. In this paper, a light CTR based on double-threaded helical gear tube is proposed. Sucha CTR is less cumbersome than the traditional CTR as its actuation unit is compact and miniaturized. Themapping relationship between the gear tube attitude and motor output angle is obtained by kinematic analysis.The precision, stability, and repeatability of the driving mechanism are tested. The experimental results showthat the positioning error in the translation test is less than 0.3 mm, the rolling angle error in the stability testis less than 0.6◦, and the error in the translation repeatability test is less than 0.005 mm. Finally, a tip-targetingtest is performed using the new CTR, which verifies the feasibility of the CTR for surgeries.
