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Development of a novel deployable arm for natural orifice transluminal endoscopic surgery
Author(s) -
Lei Yanqiang,
Li Yibin,
Song Rui,
Du Fuxin
Publication year - 2021
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.2232
Subject(s) - workspace , natural orifice transluminal endoscopic surgery , body orifice , software deployment , flexibility (engineering) , computer science , robotic arm , robot end effector , simulation , endoscope , long arm , surgery , mechanical engineering , artificial intelligence , engineering , medicine , mathematics , robot , biology , biochemistry , statistics , laparoscopy , chromosome , gene , operating system
Background Natural orifice transluminal endoscopic surgery (NOTES) is aided by the instrument channel of an endoscope. Limited by the diameter of the endoscope, the construction of the operation triangle is affected. This paper presents a deployable arm that can increase the distance between the arms. Methods The manipulation arm is composed of a continuum arm and a deployable arm. The deployable arm can be locked by a stay cable and a mechanical structure. The angle between the end‐effectors and the common workspace of the two manipulation arms are comprehensively analysed. Through experiments, the design parameters are validated and justified. Results The experiment shows that the deployment arm can maintain the deformation within 3.5 mm under a 300 g load, and the angle between the two end‐effectors can be maintained within the range of [88°, 110°]. Conclusions The novel deployment arms enlarge the angle between the end effectors, which significantly improves the flexibility of the arms.