Concentric tube robot device and control method thereof

A concentric tube and robot technology, which is applied in the field of medical devices to achieve precise positioning and navigation, compact design and easy control.

Active Publication Date: 2018-03-06
NAT UNIV OF SINGAPORE +1
View PDF5 Cites 14 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the current concentric tube surgical robots are all single-channel concentric tube surgical robots, and cannot realize autom

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Concentric tube robot device and control method thereof
  • Concentric tube robot device and control method thereof
  • Concentric tube robot device and control method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0034] Non-limiting embodiments of the present invention will be described below with reference to the above-mentioned figures.

[0035]In the concentric tube robotic device of the present invention, each concentric tube channel consists of a minimum of two interacting pre-bent tubes (eg, an inner tube and an outer tube). The material of the tube can be any material suitable for the present invention, such as any material with superelasticity, such as stainless steel, nickel-titanium memory alloy, or polymer material, or any other suitable material known to those skilled in the art. The specific design parameters of each channel, such as the diameter, length and pre-curvature of the tube, can be designed by those skilled in the art according to needs, such as for different surgical tasks.

[0036] In one aspect of the present invention, there is provided a figure 1 The multi-channel concentric tube robotic device 10 shown in the exemplary embodiment of the present invention c...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a multi-channel concentric tube robot device for natural orifice endoscopic surgery and a visual servo control method of the multi-channel concentric tube robot device. The device comprises at least one concentric tube visual channel, at least two concentric tube operating channels and a driving mechanism, wherein the at least one concentric tube visual channel is formed bynesting at least two elastic tubes, and an image sensor used for visual feedback is arranged at the tail end of the innermost tube; each of the at least two concentric tube operating channels is formed by nesting at least two elastic tubes, and a surgical instrument used for carrying out operation is arranged at the tail end of the innermost tube; the driving mechanism is configured to drive the linear motion and rotation motion of each elastic tube of the visual channel and the operation channels respectively. The invention further provides a control method based on the visual servo for the device, and the motion of each concentric tube channel can be independently controlled at the same time, so that accurate positioning and navigation can be realized in the minimally invasive surgery.

Description

technical field [0001] The invention belongs to the field of medical equipment. Specifically, it relates to a concentric tube robot, in particular to a multi-channel concentric tube robot for natural lumen endoscopic surgery. Background technique [0002] Surgical robots are increasingly used in natural orifice endoscopic surgery. However, traditional rigid surgical robots have the disadvantages of large size and rigidity, and are prone to damage when in contact with important organs, tissues and blood vessels in the body. [0003] Compared with traditional rigid surgical robots and surgical instruments, flexible surgical robots have the advantages of flexibility and compactness, so they are widely used in minimally invasive surgery. Among these flexible surgical robots, concentric tube robots have attracted more and more attention and are widely used. Concentric tube robots generally consist of a series of pre-bent tubes of different diameters nested together. Each of t...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): A61B34/35A61B17/00A61B34/20B25J9/18
CPCA61B17/00234B25J9/163B25J9/1689B25J9/1697
Inventor 任洪亮吴聊于海博
Owner NAT UNIV OF SINGAPORE
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap