Development of a single port dual arm robotically steerable endoscope for neurosurgical applications

作     者：Ronghuai Qi Nidhi Malhotra Timothy A Brumfiel Kimberly Hoang Jaydev P Desai 

作者机构：Department of Mechanical Engineering University of Nevada Las Vegas (UNLV) Las Vegas NV 89154 USA. Medical Robotics and Automation (RoboMed) Laboratory Wallace H. Coulter Department of Biomedical Engineering Georgia Institute of Technology Atlanta GA 30332 USA. Department of Neurosurgery Emory University 1365 Clifton Rd Atlanta GA 30332 USA. 

出 版 物：《npj Robotics》 

年 卷 期：2025年第3卷第1期

页      面：1页

主　　题：Biomedical engineering Mechanical engineering 

摘      要：Single-port surgical robots have gained popularity due to less patient trauma and quicker post-surgery recovery. However, due to limited access provided by a single incision, the miniaturization and maneuverability of these robots still needs to be improved. In this paper, we propose the design of a single-port, dual-arm robotically steerable endoscope containing one steerable major cannula and two steerable minor cannulas. By integrating the proposed nine degrees-of-freedom (DoFs) robotically steerable endoscope with an industrial robotic arm and a joystick controller, this robotic system can potentially achieve intuitive, and remote multi-arm manipulation capability. We present the design of the robotically steerable endoscope consisting of tendon-driven joints controlled by a compact actuation system and derive the kinematic and static models. We validate the derived models using different kinematic trajectories with an average RMSE value of 0.98 mm and 0.66 mm for the distal tip position errors of the two steerable minor cannulas.