Concentric Tube Robot for Transnasal Surgery: Initial Development and Control

Journal of Advanced Technology Research, Vol. 2, No. 1, pp. 21-26, Jun. 2017
10.11111/JATR.2017.2.1.004, Full Text:
Keywords: Concentric Tube Robot, Robot Manipulator, Trans-nasal Surgery
Abstract

The recent trend in the medical field is to perform the surgery through a minimally incised lesion or a thin hole in the body. Various surgical robots are being developed to meet these trends. Concentric tube robots, which are the robots capable of producing multiple degrees of freedom (DoFs) in a small space, o er particularly accurate and natural movements. In this study, we describe a robot manipulator using two bent concentric tubes. A total of 4 DoFs are implemented with a diameter of less than 1 mm. This paper discusses an initial development and control of the concentric tube robot, and the implemented results show the possibility of applying it to the trans-nasal surgery.


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Cite this article
[IEEE Style]
S. Yoon, J. Ko, J. Kim and S. Y. Ko, "Concentric Tube Robot for Transnasal Surgery: Initial Development and Control," Journal of Advanced Technology Research, vol. 2, no. 1, pp. 21-26, 2017. DOI: 10.11111/JATR.2017.2.1.004.

[ACM Style]
Seung-Hyeon Yoon, Ji-Woo Ko, Jin-Sam Kim, and Seong Young Ko. 2017. Concentric Tube Robot for Transnasal Surgery: Initial Development and Control. Journal of Advanced Technology Research, 2, 1, (2017), 21-26. DOI: 10.11111/JATR.2017.2.1.004.