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Design and Modeling of a Lightweight Concentric Tube Robot for Nasopharyngeal Surgery

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Intelligent Robotics and Applications (ICIRA 2022)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13457))

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Abstract

The millimeter diameter of the concentric tube robot enables it to pass through the human nasal cavity for surgery. However, plenty of concentric tube robots adopt a bulky design scheme, forcing the limited space in the operating room to be occupied. In this paper, a lightweight concentric tube robot for nasopharyngeal surgery is proposed. The robot can be mounted on a 6-DOF robot. The length of the concentric tube robot can be adjusted in real-time to perform surgery in different positions. Then, the curvature of the tubes is determined by analyzing the coupling between the tubes. The effect of the stiffness on the curvature of the tubes is analyzed. The forward kinematics model considering the coupling of the concentric tube robot is established. The simulation showed that the stiffness ratio between the tubes is contrary to the changing trend of coupling levels. Finally, the inverse kinematics model of the concentric tube robot is established using the LM algorithm. A simulation is proposed to prove the feasibility of this algorithm. This paper has implications for the motion control of the concentric tube robot.

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Acknowledgments

This work was supported by the China Postdoctoral Science Foundation funded project (Grant No. 2019M662346), Shandong Provincial Postdoctoral Innovative Talents Funded Scheme (Grant No. 238226), the Focus on Research and Development Plan in Shandong province (Grant No. 2022CXGC010503), the Intelligent Robots and Systems High-precision Innovation Center Open Fund (Grant No. 2019IRS06), the Fundamental Research Funds for the Central Universities and Young Scholars Program of Shandong University.

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Authors and Affiliations

  1. School of Mechanical Engineering, Shandong University, Jinan, China

    Gang Zhang, Hangxing Wei, Honghui Wang, Hao Cheng & Fuxin Du

  2. Key Laboratory of High Efficiency and Clean Mechanical Manufacture of Ministry of Education, Shandong University, Jinan, 250061, Shandong, China

    Gang Zhang & Fuxin Du

  3. Tongji University, Shanghai, China

    Peng Qi

Authors
  1. Gang Zhang
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  2. Hangxing Wei
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  3. Peng Qi
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  4. Honghui Wang
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  5. Hao Cheng
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  6. Fuxin Du
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Corresponding author

Correspondence to Fuxin Du .

Editor information

Editors and Affiliations

  1. Harbin Institute of Technology, Harbin, China

    Honghai Liu

  2. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  3. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  4. Harbin Institute of Technology, Harbin, China

    Li Jiang

  5. Shanghai Jiao Tong University, Shanghai, China

    Guoying Gu

  6. Shenzhen Institutes of Advanced Technology, Shenzhen, China

    Xinyu Wu

  7. Harbin Institute of Technology, Harbin, China

    Weihong Ren

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Zhang, G., Wei, H., Qi, P., Wang, H., Cheng, H., Du, F. (2022). Design and Modeling of a Lightweight Concentric Tube Robot for Nasopharyngeal Surgery. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13457. Springer, Cham. https://doi.org/10.1007/978-3-031-13835-5_37

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  • DOI: https://doi.org/10.1007/978-3-031-13835-5_37

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-13834-8

  • Online ISBN: 978-3-031-13835-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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