Novel Design of Mechanically Etched Concentric Tube Robot with Advanced Stability and Workspace

具有先进稳定性和工作空间的机械蚀刻同心管机器人的新颖设计

• 批准号: RGPIN-2016-05581
• 负责人: Drake, James
• 金额: $ 2.11万
• 依托单位: University of Toronto
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2018
• 资助国家: 加拿大
• 起止时间: 2018-01-01 至 2019-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=649576
• 关键词: Novel; Design; Mechanically; Etched; Concentric

Surgical robotics have provided surgeons with additional dexterity, precision and control to perform procedures more accurately and efficiently. However, the smallest commercial surgical robots range between 5mm and 8mm where they are too large for procedures in neurosurgery and trans-oral repairs through a single incision or burr hole. Industry and research groups have attempted to build smaller diameter cable driven discrete jointed systems but there are fundamental challenges in the mechanisms and materials which are limiting factors. A novel approach is use a "continuum" robotic manipulator where the manipulator is a continuous material that can be actuated for tip control. For millimetre-sized tools, we have proposed an approach to use Nickel Titanium (Nitinol) shape memory alloys that are thermally shape set where they are assembled in a concentric tube robot (CTR). By rotating and translating each tube, one is able to control the tip in Cartesian space. CTRs provide sufficient dexterity and stiffness for surgical tasks but there are limitations in their workspace due to "torsional wind-up". The "torsional wind-up" is caused by friction between the inner and outer tubes where the distal tip rotation may not match the proximal tip input. As this "wind-up" increases, it causes a point of instability and leads to unwanted snapping motion. To overcome the torsional instability, our research will study and optimize techniques to mechanically etch various patterns on Nitinol tubes to increase the linear response of the torsion of Nitinol tubes. Preliminary results have shown the simple etching patterns can increase the linearity and remove the "snapping" motion. There are 3 main points to the hypothesis: 1. Etching will create cellular tubes with increased torsional stability, 2. Optimized tubes will have reduced wind-up at lengths and curvatures for surgical tool and 3. Etched tubes can be implemented for a CTR to perform neurosurgery and trans-oral procedures. For this work, this project will involve 2 PhD level graduate students, clinical fellows and a research engineer who will be trained to be experts in the area of continuum manipulators, mechanical optimization and surgical tool development. This research will be conducted at the Centre for Image Guided Innovation and Therapeutic Intervention (CIGITI) at the Hospital for Sick Children. CIGITI is leading image guided research centre where its staff and students have received numerous international, national and provincial awards in the area of surgical robotics research.**

手术机器人技术为外科医生提供了额外的敏捷性，精度和控制，以更准确，更有效地执行程序。但是，最小的商业手术机器人范围在5mm至8mm之间，在该手术中，它们对于神经外科手术和通过单个切口或Burr孔进行跨性外修复的过程太大。行业和研究小组试图建立较小的直径电缆驱动的离散连接系统，但是机制和材料的基本挑战是限制因素。一种新颖的方法是使用“连续”机器人操纵器，其中操作器是一种可以进行尖端控制的连续材料。对于毫米尺寸的工具，我们提出了一种使用镍钛（Nitinol）形状的记忆合金的方法，它们是热形设置的，将它们组装在同心管机器人（CTR）中。通过旋转和翻译每个管子，一个人能够控制笛卡尔空间中的尖端。 CTR为手术任务提供了足够的灵巧性和刚度，但是由于“扭转扭转”，其工作空间存在局限性。 “扭转扭曲”是由内管和外管之间的摩擦引起的，远端尖端旋转可能与近端尖端输入不符。随着“结束”的增加，它会导致不稳定点，并导致不必要的捕捉运动。为了克服扭转不稳定，我们的研究将研究并优化技术，以机械地蚀刻奈蒂醇管上的各种模式，以增加奈蒂醇管扭转的线性响应。初步结果表明，简单的蚀刻模式可以增加线性并消除“捕捉”运动。该假设有3个要点：1。蚀刻将产生具有扭转稳定性增加的细胞管，2。优化的管将减少长时间的发条和手术工具的弯曲和弯曲，并可以实现蚀刻管以执行CTR以执行神经外科手术和透射程序。对于这项工作，该项目将涉及2名博士学位的研究生，临床研究员和一名研究工程师，他们将接受培训，成为连续性操纵器，机械优化和手术工具开发领域的专家。这项研究将在病童医院的图像指导创新和治疗干预中心（CIGITI）进行。 Cigiti是领先的图像指导研究中心，其员工和学生在外科机器人研究领域获得了许多国际，国家和省级奖项。**