The Study Of Concentric Tube Surgical Robot Used In Cerebral Surgery

As the development of living condition and the intensification process of population aging, it is rapidly increasing in quantity of patients with hypertension. Cerebrovascular disease harm will also become more and more serious, and the resulting variety of brain diseases has brought a serious test in the cerebral surgery which is the youngest and the most complex of a discipline. As the limitation of technology before, brain surgery was said to be a restricted area. With th e development of new materials, sensors, control theory and related technology, high security, high precision and high stability of surgical robot has become the future trend in brain surgery.This paper presents a compact concentric tube robot which is 35 cm in total length, 10 cm in diameter, 2.15 kg in weight. The concentric tube has needle like size, curved nature, and great dexterity. Through rotation and extension of the interaction tubes, their curvatures interact elastically to position and orient the robot ’s tip, as well as to control the robot’s shape along its length. In this approach, the flexible tubes comprise both the links and the joints of the robot. Since the actuators attach to the tubes at their proximal ends, the robot itself forms a slender curve that is well suited for minimally invasive cerebral surgery. The study of concentric tube robot can not only promote the change off traditional medical technology, also can actively promote the development of related technologies, which has great significance in theory research.Firstly, this paper analyzes the working space and degree of freedom of the robot, and introduces the detail design of the robot, and based on this a four degrees of freedom prototype of the robot is worked out. In addition, teleoperation of the robot using a haptic input device is developed for position control in 3D space, and analyzes the kinematics, get the robot tube’s curvature equation, forward and inverse kinematics equations based on lie group theory, then builds a teleoperation algorithm and realized by programming. In the end, the construction of the robot experiment platform is completed, and some experiments is done to test the model accuracy and efficiency. The result shows that the teleoperation system has an accuracy of around 2mm and a latency time of 0.1s. The proposed robot holds promise to enhance clinical operation.