Abstract
AbstractThe 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.KeywordsConcentric tube robotDesignDecoupleNasopharyngeal surgery
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
