Design And Teleoperation Study Of Multiple Arm Concentric Tube Robot System

Minimally invasive surgery is a surgical method with less trauma,less pain and rapid recovery.Compared with traditional surgical operations,minimally invasive surgery is increasingly favored by patients and medical staff.In recent years,concentric tube robot as a new kind of minimally invasive surgery robot has gradually attracted the attention of researchers at home and abroad.This new flexible robot,which is small in size and flexible in bending,can be operated through the natural cavity of the human body,such as the nose and mouth,so as to achieve minimally invasive surgery.Nowadays,most of the experimental prototype of the concentric tube robot are single-arm,which can carry out the simple operation such as drug delivery or monitoring.However,if relatively complex operations such as biopsy sampling,excision and suture need to be performed,concentric tube robots will require a multi-arm structure.This article designes a concentric tube robot system with three arms,one of them is a four-DOF vision arm,which can provide intuitive operation image for the operator;the other two arms are six-DOF manipulators that equipped with special scissors,tweezers or burning device in the end of arms to achieve different surgical operations.With the design of three-arm concentric tube robot system,the forward and inverse kinematics,path planning and remote operation are studied in this paper.Based on the existing forward and inverse kinematics theory,this paper designs a simple and effective inverse kinematics solution with the data sampling.The ideal procedure for surgeons to operate is that the operating arm s of the concentric tube robots can automatically navigate to target location in a safe area after determining the relative position relation of the surgical lesion and the concentric tube robot.Then,the operator can perform the operation through teleoperation technology.Therefore,the classical RRT algorithm is improved to realize the path planning of the proposed multi-arm concentric tube robot in this article.In order to verify the feasibility of the robot system and the teleoperation algorithm,special forcep and scissor were installed in the end of operating arms of the experimental prototype respectively,and the sampling operation through the nasal cavity of human skull model is realized by keyboard controlled remote operation algorithm.The multi-arm concentric tube robot system and the relevant theoretical methods proposed in this paper are verified by experiments.The successful implementation of each experiment proves the feasibility and effectiveness of the system and theoretical methods.