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首页> 外文会议>International Conference on Medical Image Computing and Computer-Assisted Intervention(MICCAI 2004) pt.2; 20040926-29; Saint-Malo(FR) >High Dexterity Snake-Like Robotic Slaves for Minimally Invasive Telesurgery of the Upper Airway
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High Dexterity Snake-Like Robotic Slaves for Minimally Invasive Telesurgery of the Upper Airway

机译：高灵巧的蛇形机器人奴隶，用于上呼吸道微创手术

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摘要

This paper reports our efforts to develop an integrated system for telesurgery of the throat and upper airway. The system is described while focusing on the novel design of its slave robot. The slave robot is a 3-armed robot that implements novel Distal Dexterity Units (DDU's). These DDU's are dexterous robots for surgical tool manipulation and suturing in confined spaces. Each DDU is composed from a Snake-Like Unit (SLU) and a detachable Parallel Manipulation unit (PMU). The proposed design of the DDU's provides an enhanced downsize scalability and distal dexterity that are crucial for medical applications such as laryngeal surgery where simultaneous manipulation of 2-3 long tools through a narrow laryngeoscope is required. The paper presents the design of these units and the experimentation results with a 4.2 mm diameter SLU to be used for constructing the first DDU for the 3-armed slave robot.
机译：本文报告了我们为开发喉咙和上呼吸道远距离手术的集成系统所做的努力。在描述该系统时，重点关注其从属机器人的新颖设计。从属机器人是3臂机器人，可实现新型的远端敏捷单元（DDU）。这些DDU是灵巧的机器人，用于在狭窄空间内进行手术工具操作和缝合。每个DDU由蛇形单元（SLU）和可拆卸的并行操纵单元（PMU）组成。 DDU的拟议设计提供了增强的缩小尺寸的可扩展性和远侧灵活性，这对于医疗应用（例如需要通过狭窄的喉镜同时操纵2-3个长工具的喉部手术）至关重要。本文介绍了这些单元的设计以及直径为4.2 mm的SLU的实验结果，该SLU可用于构造3臂从动机器人的第一个DDU。

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