Page 7 - Flexible Robotics in Medicine
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Contents vii
Chapter 6: Handheld flexible robot with concentric tubes aiming for intraocular
procedures.........................................................................................149
Benedict Tan, Liao Wu and Hongliang Ren
6.1 Introduction ....................................................................................................... 149
6.2 Concentric tube robots....................................................................................... 153
6.3 Intraocular concentric tube robot prototype design ............................................ 157
6.4 Kinematics and motion control interface............................................................ 159
6.5 Evaluation of prototype ..................................................................................... 163
6.6 Conclusion......................................................................................................... 166
References ................................................................................................................. 166
Chapter 7: Tendon routing and anchoring for cable-driven single-port surgical
manipulators with spring backbones and luminal constraints.................169
Catherine Jiayi Cai, Seenivasan Lalithkumar, Xinchen Cai, Krishna Ramachandra,
Francis Wong and Hongliang Ren
7.1 Introduction ....................................................................................................... 169
7.2 Explored concepts for actuation......................................................................... 172
7.3 Constructing the flexible backbone.................................................................... 174
7.4 Integration with surgical tools............................................................................ 179
7.5 Prototype architecture and testing...................................................................... 182
7.6 Attempts at variable stiffness mechanisms......................................................... 187
7.7 Conclusion......................................................................................................... 192
Acknowledgments...................................................................................................... 193
References ................................................................................................................. 193
Chapter 8: Compliant bending tubular mechanisms with variable groove patterns
for flexible robotic drilling delivery......................................................195
Zhi Peng Tan, Xiao Xiao and Hongliang Ren
8.1 Introduction ....................................................................................................... 195
8.2 Literature review................................................................................................ 196
8.3 Bending tube mechanism with groove cutting designs....................................... 198
8.4 Bending tube mechanism with modular sections................................................ 205
8.5 Other trials and errors........................................................................................ 211
8.6 Conclusion......................................................................................................... 214
Acknowledgment ....................................................................................................... 214
References ................................................................................................................. 214
Further reading........................................................................................................... 215
