Development of a novel deployable arm for natural orifice transluminal endoscopic surgery

Background Natural orifice transluminal endoscopic surgery (NOTES) is aided by the instrument channel of an endoscope. Limited by the diameter of the endoscope, the construction of the operation triangle is affected. This paper presents a deployable arm that can increase the distance between the arm...

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Veröffentlicht in:The international journal of medical robotics + computer assisted surgery 2021-06, Vol.17 (3), p.e2232-n/a
Hauptverfasser: Lei, Yanqiang, Li, Yibin, Song, Rui, Du, Fuxin
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container_title The international journal of medical robotics + computer assisted surgery
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creator Lei, Yanqiang
Li, Yibin
Song, Rui
Du, Fuxin
description Background Natural orifice transluminal endoscopic surgery (NOTES) is aided by the instrument channel of an endoscope. Limited by the diameter of the endoscope, the construction of the operation triangle is affected. This paper presents a deployable arm that can increase the distance between the arms. Methods The manipulation arm is composed of a continuum arm and a deployable arm. The deployable arm can be locked by a stay cable and a mechanical structure. The angle between the end‐effectors and the common workspace of the two manipulation arms are comprehensively analysed. Through experiments, the design parameters are validated and justified. Results The experiment shows that the deployment arm can maintain the deformation within 3.5 mm under a 300 g load, and the angle between the two end‐effectors can be maintained within the range of [88°, 110°]. Conclusions The novel deployment arms enlarge the angle between the end effectors, which significantly improves the flexibility of the arms.
doi_str_mv 10.1002/rcs.2232
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Limited by the diameter of the endoscope, the construction of the operation triangle is affected. This paper presents a deployable arm that can increase the distance between the arms. Methods The manipulation arm is composed of a continuum arm and a deployable arm. The deployable arm can be locked by a stay cable and a mechanical structure. The angle between the end‐effectors and the common workspace of the two manipulation arms are comprehensively analysed. Through experiments, the design parameters are validated and justified. Results The experiment shows that the deployment arm can maintain the deformation within 3.5 mm under a 300 g load, and the angle between the two end‐effectors can be maintained within the range of [88°, 110°]. 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subjects common workspace
deployable arm
Design parameters
End effectors
Endoscopes
Endoscopy
flexible surgical instrument arm
operation triangle
Orifices
Surgery
surgical robot
Triangles
title Development of a novel deployable arm for natural orifice transluminal endoscopic surgery
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