arXiv 2305.155702023-05-24cs.RO

一种用于脊柱肿瘤微创治疗的新型同心管可操控钻削机器人，采用空腔和U形钻削技术

A Novel Concentric Tube Steerable Drilling Robot for Minimally Invasive Treatment of Spinal Tumors Using Cavity and U-shape Drilling Techniques

University of Texas at Austin（德克萨斯大学奥斯汀分校）；The University of Texas Dell Medical School（德克萨斯大学戴尔医学院）；University of Edinburgh（爱丁堡大学）

Susheela Sharma, Ji H. Park, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi

备注：: 7 pages, 8 figures, Accepted for Publication at the 2023 International Conference on Robotics and Automation

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AI总结：

本文提出一种二自由度同心管可操控钻削机器人CT-SDR，首次实现平面内外J形、U形轨迹及硬组织空腔的微创钻削，并在模拟骨材料上验证了其性能。

摘要：

本文介绍了一种新型柔性且结构坚固的同心管可操控钻削机器人（CT-SDR）的设计、制造与评估，旨在改进脊柱肿瘤的微创治疗。受同心管机器人启发，所提出的二自由度（DoF）CT-SDR首次不仅允许外科医生直观、快速地钻削平滑的平面内和平面外J形及U形弯曲轨迹，而且还能以微创方式在硬组织中钻削空腔。我们在模拟骨材料上成功评估了所提出的CT-SDR在多种平面内和平面外J形分支、U形以及空腔钻削场景中的性能和有效性。

英文摘要：

In this paper, we present the design, fabrication, and evaluation of a novel flexible, yet structurally strong, Concentric Tube Steerable Drilling Robot (CT-SDR) to improve minimally invasive treatment of spinal tumors. Inspired by concentric tube robots, the proposed two degree-of-freedom (DoF) CT-SDR, for the first time, not only allows a surgeon to intuitively and quickly drill smooth planar and out-of-plane J- and U- shape curved trajectories, but it also, enables drilling cavities through a hard tissue in a minimally invasive fashion. We successfully evaluated the performance and efficacy of the proposed CT-SDR in drilling various planar and out-of-plane J-shape branch, U-shape, and cavity drilling scenarios on simulated bone materials.

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