Page 180 - Flexible Robotics in Medicine

166 Chapter 6

Figure 6.14
Orientation test with multiple insertion image overlay.

increase in orientation angle. The increase in maneuverability comes at the cost of a much
bulkier device, albeit one that can still be operated with one hand.

6.6 Conclusion

This chapter proposed a novel actuation design for active cannula robots to be more
feasible for intraocular procedures. A 3-DOF handheld light pipe steering guide
prototype has been proven to supply more excellent maneuverability compared to an
ordinary light pipe. After a review of various actuation designs and concentric tube
designs, the principles behind the actuation design were identified and modified with
priority placed on compactness. Workspace constraints for intraocular surgery were
identified and a suitable tube configuration chosen. Recommended kinematic model was
further introduced. This device further has potential applications as an end-effector for
use in a robotic surgical system or as a biopsy needle.

References

[1] R.J. Webster, J.M. Romano, N.J. Cowan, Mechanics of pre-curved-tube continuum robots, IEEE Trans.
Robot. 25 (1) (2009) 67 78.