Τετάρτη 27 Ιανουαρίου 2021

Development of a novel deployable arm for natural orifice transluminal endoscopic surgery(NOTES)

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Abstract:

Background

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 analyzed. 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 [88o ,110o].

Conclusions

The novel deployment arms enlarge the angle between the end effectors, which significantly improves the flexibility of the arms.

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