tailieunhanh - Advances in robot manipulators_1

Minimally Invasive Surgery represents the future of many types of medical interventions such as keyhole neurosurgey or transluminal endoscopic surgery. These procedures involve insertion of surgical instruments such as needles and endoscopes into human body through small incision/ body cavity for biopsy and drug delivery. | 1 A Biomimetic steering robot for Minimally invasive surgery application G. Chen Unilever R D Port Sunlight United Kingdom . Pham T. Maalej H. Fourati R. Moreau and S. Sesmat Laboratoire Ampère UMR CNRS 5005 INSA-Lyon Université de Lyon F-69621 France Abstract Minimally Invasive Surgery represents the future of many types of medical interventions such as keyhole neurosurgey or transluminal endoscopic surgery. These procedures involve insertion of surgical instruments such as needles and endoscopes into human body through small incision body cavity for biopsy and drug delivery. However nearly all surgical instruments for these procedures are inserted manually and there is a long learning curve for surgeons to use them properly. Many research efforts have been made to design active instruments endoscope needles to improve this procedure during last decades. New robot mechanisms have been designed and used to improve the dexterity of current endoscope. Usually these robots are flexible and can pass the constrained space for fine manipulations. In recent years a continuum robotic mechanism has been investigated and designed for medical surgery. Those robots are characterized by the fact that their mechanical components do not have rigid links and discrete joints in contrast with traditional robot manipulators. The design of these robots is inspired by movements of animals parts such as tongues elephant trunks and tentacles. The unusual compliance and redundant degrees of freedom of these robots provide strong potential to achieve delicate tasks successfully even in cluttered and unstructured environments. This chapter will present a complete application of a continuum robot for Minimally Invasive Surgery of colonoscopy. This system is composed of a micro-robotic tip a set of position sensors and a real-time control system for guiding the exploration of colon. Details will be described on the modeling of the used pneumatic actuators the design of the mechanical .