Development of a compact continuum tubular robotic system for nasopharyngeal biopsy.
Identifieur interne : 000238 ( Main/Exploration ); précédent : 000237; suivant : 000239Development 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
Affiliations:
- Australie, République populaire de Chine, Singapour
- Guangdong
- Shenzhen
- Université nationale de Singapour
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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><wicri:noRegion>Singapore</wicri:noRegion></affiliation></author><author><name sortKey="Ren, Hongliang" sort="Ren, Hongliang" uniqKey="Ren H" first="Hongliang" last="Ren">Hongliang Ren</name><affiliation wicri:level="4"><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><orgName type="university">Université nationale de Singapour</orgName></affiliation></author></titleStmt><publicationStmt><idno 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Computer Science, Queensland University of Technology, Brisbane, Australia.</nlm:affiliation><country xml:lang="fr">Australie</country><wicri:regionArea>School of Electrical Engineering and Computer Science, Queensland University of Technology, Brisbane</wicri:regionArea><wicri:noRegion>Brisbane</wicri:noRegion></affiliation></author><author><name sortKey="Song, Shuang" sort="Song, Shuang" uniqKey="Song S" first="Shuang" last="Song">Shuang Song</name><affiliation wicri:level="3"><nlm:affiliation>School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen, China.</nlm:affiliation><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen</wicri:regionArea><placeName><settlement type="city">Shenzhen</settlement><region type="province">Guangdong</region></placeName></affiliation></author><author><name sortKey="Wu, Keyu" sort="Wu, Keyu" uniqKey="Wu K" first="Keyu" last="Wu">Keyu Wu</name><affiliation wicri:level="4"><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><orgName type="university">Université nationale de Singapour</orgName></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><wicri:noRegion>Singapore</wicri:noRegion></affiliation></author><author><name sortKey="Ren, Hongliang" sort="Ren, Hongliang" uniqKey="Ren H" first="Hongliang" last="Ren">Hongliang Ren</name><affiliation wicri:level="4"><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><orgName type="university">Université nationale de Singapour</orgName></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><affiliations><list><country><li>Australie</li><li>République populaire de Chine</li><li>Singapour</li></country><region><li>Guangdong</li></region><settlement><li>Shenzhen</li></settlement><orgName><li>Université nationale de Singapour</li></orgName></list><tree><country name="Australie"><noRegion><name sortKey="Wu, Liao" sort="Wu, Liao" uniqKey="Wu L" first="Liao" last="Wu">Liao Wu</name></noRegion></country><country name="République populaire de Chine"><region name="Guangdong"><name sortKey="Song, Shuang" sort="Song, Shuang" uniqKey="Song S" first="Shuang" last="Song">Shuang Song</name></region></country><country name="Singapour"><noRegion><name sortKey="Wu, Keyu" sort="Wu, Keyu" uniqKey="Wu K" first="Keyu" last="Wu">Keyu Wu</name></noRegion><name sortKey="Lim, Chwee Ming" sort="Lim, Chwee Ming" uniqKey="Lim C" first="Chwee Ming" last="Lim">Chwee Ming Lim</name><name sortKey="Ren, Hongliang" sort="Ren, Hongliang" uniqKey="Ren H" first="Hongliang" last="Ren">Hongliang Ren</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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