Development of a compact continuum tubular robotic system for nasopharyngeal biopsy.
Identifieur interne : 000011 ( PubMed/Curation ); précédent : 000010; suivant : 000012Development of a compact continuum tubular robotic system for nasopharyngeal biopsy.
Auteurs : Liao Wu [Australie] ; Shuang Song [République populaire de Chine] ; Keyu Wu [Singapour] ; Chwee Ming Lim [Singapour] ; Hongliang Ren [Singapour]Source :
- Medical & biological engineering & computing [ 1741-0444 ] ; 2016.
Abstract
Traditional posterior nasopharyngeal biopsy using a flexible nasal endoscope has the risks of abrasion and injury to the nasal mucosa and thus causing trauma to the patient. Recently, a new class of robots known as continuum tubular robots (CTRs) provide a novel solution to the challenge with miniaturized size, curvilinear maneuverability, and capability of avoiding collision within the nasal environment. This paper presents a compact CTR which is 35 cm in total length, 10 cm in diameter, 2.15 kg in weight, and easy to be integrated with a robotic arm to perform more complicated operations. Structural design, end-effector design, and workspace analysis are described in detail. In addition, teleoperation of the CTR using a haptic input device is developed for position control in 3D space. Moreover, by integrating the robot with three electromagnetic tracking sensors, a navigation system together with a shape reconstruction algorithm is developed. Comprehensive experiments are conducted to test the functionality of the proposed prototype; experiment results show that under teleoperation, the system has an accuracy of 2.20 mm in following a linear path, an accuracy of 2.01 mm in following a circular path, and a latency time of 0.1 s. It is also found that the proposed shape reconstruction algorithm has a mean error of around 1 mm along the length of the tubes. Besides, the feasibility and effectiveness of the proposed robotic system being applied to posterior nasopharyngeal biopsy are demonstrated by a cadaver experiment. The proposed robotic system holds promise to enhance clinical operation in transnasal procedures.
DOI: 10.1007/s11517-016-1514-9
PubMed: 27230499
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Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen</wicri:regionArea></affiliation></author><author><name sortKey="Wu, Keyu" sort="Wu, Keyu" uniqKey="Wu K" first="Keyu" last="Wu">Keyu Wu</name><affiliation wicri:level="1"><nlm:affiliation>Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore.</nlm:affiliation><country xml:lang="fr">Singapour</country><wicri:regionArea>Department of Biomedical Engineering, National University of Singapore, Singapore</wicri:regionArea></affiliation></author><author><name sortKey="Lim, Chwee Ming" sort="Lim, Chwee Ming" uniqKey="Lim C" first="Chwee Ming" last="Lim">Chwee Ming Lim</name><affiliation wicri:level="1"><nlm:affiliation>Department of Otolaryngology-Head and Neck Surgery, National University Hospital, Singapore, Singapore.</nlm:affiliation><country xml:lang="fr">Singapour</country><wicri:regionArea>Department of Otolaryngology-Head and Neck Surgery, National University Hospital, Singapore</wicri:regionArea></affiliation></author><author><name sortKey="Ren, Hongliang" sort="Ren, Hongliang" uniqKey="Ren H" first="Hongliang" last="Ren">Hongliang Ren</name><affiliation wicri:level="1"><nlm:affiliation>Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore. ren@nus.edu.sg.</nlm:affiliation><country xml:lang="fr">Singapour</country><wicri:regionArea>Department of Biomedical Engineering, National University of Singapore, Singapore</wicri:regionArea></affiliation></author></analytic><series><title level="j">Medical & biological engineering & computing</title><idno type="eISSN">1741-0444</idno><imprint><date when="2016" type="published">2016</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Traditional posterior nasopharyngeal biopsy using a flexible nasal endoscope has the risks of abrasion and injury to the nasal mucosa and thus causing trauma to the patient. Recently, a new class of robots known as continuum tubular robots (CTRs) provide a novel solution to the challenge with miniaturized size, curvilinear maneuverability, and capability of avoiding collision within the nasal environment. This paper presents a compact CTR which is 35 cm in total length, 10 cm in diameter, 2.15 kg in weight, and easy to be integrated with a robotic arm to perform more complicated operations. Structural design, end-effector design, and workspace analysis are described in detail. In addition, teleoperation of the CTR using a haptic input device is developed for position control in 3D space. Moreover, by integrating the robot with three electromagnetic tracking sensors, a navigation system together with a shape reconstruction algorithm is developed. Comprehensive experiments are conducted to test the functionality of the proposed prototype; experiment results show that under teleoperation, the system has an accuracy of 2.20 mm in following a linear path, an accuracy of 2.01 mm in following a circular path, and a latency time of 0.1 s. It is also found that the proposed shape reconstruction algorithm has a mean error of around 1 mm along the length of the tubes. Besides, the feasibility and effectiveness of the proposed robotic system being applied to posterior nasopharyngeal biopsy are demonstrated by a cadaver experiment. The proposed robotic system holds promise to enhance clinical operation in transnasal procedures.</div></front></TEI><pubmed><MedlineCitation Status="Publisher" Owner="NLM"><PMID Version="1">27230499</PMID><DateCreated><Year>2016</Year><Month>5</Month><Day>27</Day></DateCreated><DateRevised><Year>2016</Year><Month>5</Month><Day>27</Day></DateRevised><Article PubModel="Print-Electronic"><Journal><ISSN IssnType="Electronic">1741-0444</ISSN><JournalIssue CitedMedium="Internet"><PubDate><Year>2016</Year><Month>May</Month><Day>18</Day></PubDate></JournalIssue><Title>Medical & biological engineering & computing</Title><ISOAbbreviation>Med Biol Eng Comput</ISOAbbreviation></Journal><ArticleTitle>Development of a compact continuum tubular robotic system for nasopharyngeal biopsy.</ArticleTitle><Pagination><MedlinePgn></MedlinePgn></Pagination><Abstract><AbstractText NlmCategory="UNASSIGNED">Traditional posterior nasopharyngeal biopsy using a flexible nasal endoscope has the risks of abrasion and injury to the nasal mucosa and thus causing trauma to the patient. Recently, a new class of robots known as continuum tubular robots (CTRs) provide a novel solution to the challenge with miniaturized size, curvilinear maneuverability, and capability of avoiding collision within the nasal environment. This paper presents a compact CTR which is 35 cm in total length, 10 cm in diameter, 2.15 kg in weight, and easy to be integrated with a robotic arm to perform more complicated operations. Structural design, end-effector design, and workspace analysis are described in detail. In addition, teleoperation of the CTR using a haptic input device is developed for position control in 3D space. Moreover, by integrating the robot with three electromagnetic tracking sensors, a navigation system together with a shape reconstruction algorithm is developed. Comprehensive experiments are conducted to test the functionality of the proposed prototype; experiment results show that under teleoperation, the system has an accuracy of 2.20 mm in following a linear path, an accuracy of 2.01 mm in following a circular path, and a latency time of 0.1 s. It is also found that the proposed shape reconstruction algorithm has a mean error of around 1 mm along the length of the tubes. Besides, the feasibility and effectiveness of the proposed robotic system being applied to posterior nasopharyngeal biopsy are demonstrated by a cadaver experiment. The proposed robotic system holds promise to enhance clinical operation in transnasal procedures.</AbstractText></Abstract><AuthorList><Author><LastName>Wu</LastName><ForeName>Liao</ForeName><Initials>L</Initials><Identifier Source="ORCID">http://orcid.org/0000-0002-4554-7638</Identifier><AffiliationInfo><Affiliation>School of Electrical Engineering and Computer Science, Queensland University of Technology, Brisbane, Australia.</Affiliation></AffiliationInfo></Author><Author><LastName>Song</LastName><ForeName>Shuang</ForeName><Initials>S</Initials><AffiliationInfo><Affiliation>School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen, China.</Affiliation></AffiliationInfo></Author><Author><LastName>Wu</LastName><ForeName>Keyu</ForeName><Initials>K</Initials><AffiliationInfo><Affiliation>Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore.</Affiliation></AffiliationInfo></Author><Author><LastName>Lim</LastName><ForeName>Chwee Ming</ForeName><Initials>CM</Initials><AffiliationInfo><Affiliation>Department of Otolaryngology-Head and Neck Surgery, National University Hospital, Singapore, Singapore.</Affiliation></AffiliationInfo></Author><Author><LastName>Ren</LastName><ForeName>Hongliang</ForeName><Initials>H</Initials><AffiliationInfo><Affiliation>Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore. ren@nus.edu.sg.</Affiliation></AffiliationInfo></Author></AuthorList><Language>ENG</Language><PublicationTypeList><PublicationType UI="">JOURNAL ARTICLE</PublicationType></PublicationTypeList><ArticleDate DateType="Electronic"><Year>2016</Year><Month>5</Month><Day>18</Day></ArticleDate></Article><MedlineJournalInfo><MedlineTA>Med Biol Eng Comput</MedlineTA><NlmUniqueID>7704869</NlmUniqueID><ISSNLinking>0140-0118</ISSNLinking></MedlineJournalInfo><KeywordList Owner="NOTNLM"><Keyword MajorTopicYN="N">Concentric tube robots</Keyword><Keyword MajorTopicYN="N">Continuum tubular robots</Keyword><Keyword MajorTopicYN="N">Minimally invasive surgery</Keyword><Keyword MajorTopicYN="N">Nasopharyngeal biopsy</Keyword><Keyword MajorTopicYN="N">Transnasal surgical robot</Keyword></KeywordList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="received"><Year>2015</Year><Month>9</Month><Day>8</Day></PubMedPubDate><PubMedPubDate PubStatus="accepted"><Year>2016</Year><Month>5</Month><Day>2</Day></PubMedPubDate><PubMedPubDate PubStatus="aheadofprint"><Year>2016</Year><Month>5</Month><Day>18</Day></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2016</Year><Month>5</Month><Day>28</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2016</Year><Month>5</Month><Day>28</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2016</Year><Month>5</Month><Day>28</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>aheadofprint</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1007/s11517-016-1514-9</ArticleId><ArticleId IdType="pii">10.1007/s11517-016-1514-9</ArticleId><ArticleId IdType="pubmed">27230499</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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