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 |
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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 |
format | Article |
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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.</description><identifier>ISSN: 1478-5951</identifier><identifier>EISSN: 1478-596X</identifier><identifier>DOI: 10.1002/rcs.2232</identifier><identifier>PMID: 33480095</identifier><language>eng</language><publisher>England: Wiley Subscription Services, Inc</publisher><subject>common workspace ; deployable arm ; Design parameters ; End effectors ; Endoscopes ; Endoscopy ; flexible surgical instrument arm ; operation triangle ; Orifices ; Surgery ; surgical robot ; Triangles</subject><ispartof>The international journal of medical robotics + computer assisted surgery, 2021-06, Vol.17 (3), p.e2232-n/a</ispartof><rights>2021 John Wiley & Sons Ltd.</rights><rights>2021 John Wiley & Sons Ltd.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c3492-ccc5de27ccf3395fe38cb16795d69d670b1dcfa55a4023747cd09babfc6ab3423</citedby><cites>FETCH-LOGICAL-c3492-ccc5de27ccf3395fe38cb16795d69d670b1dcfa55a4023747cd09babfc6ab3423</cites><orcidid>0000-0003-0334-0927 ; 0000-0001-9781-9677</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://onlinelibrary.wiley.com/doi/pdf/10.1002%2Frcs.2232$$EPDF$$P50$$Gwiley$$H</linktopdf><linktohtml>$$Uhttps://onlinelibrary.wiley.com/doi/full/10.1002%2Frcs.2232$$EHTML$$P50$$Gwiley$$H</linktohtml><link.rule.ids>314,780,784,1417,27924,27925,45574,45575</link.rule.ids><backlink>$$Uhttps://www.ncbi.nlm.nih.gov/pubmed/33480095$$D View this record in MEDLINE/PubMed$$Hfree_for_read</backlink></links><search><creatorcontrib>Lei, Yanqiang</creatorcontrib><creatorcontrib>Li, Yibin</creatorcontrib><creatorcontrib>Song, Rui</creatorcontrib><creatorcontrib>Du, Fuxin</creatorcontrib><title>Development of a novel deployable arm for natural orifice transluminal endoscopic surgery</title><title>The international journal of medical robotics + computer assisted surgery</title><addtitle>Int J Med Robot</addtitle><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.</description><subject>common workspace</subject><subject>deployable arm</subject><subject>Design parameters</subject><subject>End effectors</subject><subject>Endoscopes</subject><subject>Endoscopy</subject><subject>flexible surgical instrument arm</subject><subject>operation triangle</subject><subject>Orifices</subject><subject>Surgery</subject><subject>surgical robot</subject><subject>Triangles</subject><issn>1478-5951</issn><issn>1478-596X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2021</creationdate><recordtype>article</recordtype><recordid>eNp1kF1LwzAUhoMobk7BXyABb7zpzGe7Xsr8hIHgB-hVSdMT6UibmqzK_r2ZmxMEr87h5eHhnBehY0rGlBB27nUYM8bZDhpSkU0Smacvu9td0gE6CGFOiJAiFftowLmYEJLLIXq9hA-wrmugXWBnsMKtiwGuoLNuqUoLWPkGG-dxqxa9VxY7X5taA1541QbbN3UbQ2grF7Trao1D79_ALw_RnlE2wNFmjtDz9dXT9DaZ3d_cTS9mieYiZ4nWWlbAMq0N57k0wCe6pGmWyyrNqzQjJa20UVIqQRjPRKYrkpeqNDpVJReMj9DZ2tt5995DWBRNHTRYq1pwfShYfJVlOeU0oqd_0LnrfTw_UpJxQqlg9FeovQvBgyk6XzfKLwtKilXdRay7WNUd0ZONsC8bqLbgT78RSNbAZ21h-a-oeJg-fgu_AGfyifA</recordid><startdate>202106</startdate><enddate>202106</enddate><creator>Lei, Yanqiang</creator><creator>Li, Yibin</creator><creator>Song, Rui</creator><creator>Du, Fuxin</creator><general>Wiley Subscription Services, Inc</general><scope>NPM</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope><scope>JQ2</scope><scope>K9.</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>7X8</scope><orcidid>https://orcid.org/0000-0003-0334-0927</orcidid><orcidid>https://orcid.org/0000-0001-9781-9677</orcidid></search><sort><creationdate>202106</creationdate><title>Development of a novel deployable arm for natural orifice transluminal endoscopic surgery</title><author>Lei, Yanqiang ; Li, Yibin ; Song, Rui ; Du, Fuxin</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c3492-ccc5de27ccf3395fe38cb16795d69d670b1dcfa55a4023747cd09babfc6ab3423</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2021</creationdate><topic>common workspace</topic><topic>deployable arm</topic><topic>Design parameters</topic><topic>End effectors</topic><topic>Endoscopes</topic><topic>Endoscopy</topic><topic>flexible surgical instrument arm</topic><topic>operation triangle</topic><topic>Orifices</topic><topic>Surgery</topic><topic>surgical robot</topic><topic>Triangles</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Lei, Yanqiang</creatorcontrib><creatorcontrib>Li, Yibin</creatorcontrib><creatorcontrib>Song, Rui</creatorcontrib><creatorcontrib>Du, Fuxin</creatorcontrib><collection>PubMed</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>ProQuest Health & Medical Complete (Alumni)</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>MEDLINE - Academic</collection><jtitle>The international journal of medical robotics + computer assisted surgery</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Lei, Yanqiang</au><au>Li, Yibin</au><au>Song, Rui</au><au>Du, Fuxin</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Development of a novel deployable arm for natural orifice transluminal endoscopic surgery</atitle><jtitle>The international journal of medical robotics + computer assisted surgery</jtitle><addtitle>Int J Med Robot</addtitle><date>2021-06</date><risdate>2021</risdate><volume>17</volume><issue>3</issue><spage>e2232</spage><epage>n/a</epage><pages>e2232-n/a</pages><issn>1478-5951</issn><eissn>1478-596X</eissn><abstract>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.</abstract><cop>England</cop><pub>Wiley Subscription Services, Inc</pub><pmid>33480095</pmid><doi>10.1002/rcs.2232</doi><tpages>13</tpages><orcidid>https://orcid.org/0000-0003-0334-0927</orcidid><orcidid>https://orcid.org/0000-0001-9781-9677</orcidid></addata></record> |
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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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