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November 18, 2019




NEW CONTINUUM ROBOT DESIGN ACHIEVES MOTION RESOLUTIONS OF 1 MICRON OR LESS

by Vanderbilt University

Augmentation of an existing macro-scale, multi-backbones robot with micron-scale
motion capabilities is achieved by adding wires (red) inside the structure that
can slide in and out of the tubular backbones. This allows modulation of the
equilibrium shape. The robot still achieves large-scale (macro) motion using the
tubular secondary backbones rigidly attached to the top red disc. By direct
actuation, pushing and pulling on them, the continuum robot configuration
changes. Credit: Vanderbilt University

A new continuum robot designed by Vanderbilt engineers achieves multi-scale
motion and may open up a huge world of previously impossible complex
microsurgeries.



The robot is capable of providing both a large macro motion workspace as
necessary for surgical intervention and a small micro motions workspace with
motion resolutions of 1 micron or less. For a sense of scale, an inch contains
25,400 microns. A human red blood cell is about eight microns wide, the same
size as some bacteria and significantly smaller than the width of the average
human hair.

"Our design achieves motion resolutions of 1 micron or less by using inexpensive
actuators. This reconfiguration—with minimal added cost—could accelerate the
development of a new class of surgical robots capable of both macro-motion for
surgical intervention and micro-scale motion for cellular-level imaging or
intervention," said Nabil Simaan, professor of mechanical engineering and
director of the Advanced Robotics and Mechanism Applications Laboratory.

"This greatly expands the capabilities of robotics in minimally invasive
surgery," he said.

The miniaturization and range of motion would allow precise control during
procedures on complex aneurysms, tiny veins and arteries, nerves and the
delicate structures of the eye, the inner ear and the vocal cords. Potential
applications include biopsies, tumor eradication and targeted drug delivery at
the cellular level.

Simaan and his team have adapted the flexible architecture of his previous
continuum robot to perform at the macro and micro scale by altering the
equilibrium pose of the robot, which Simaan calls continuum robots with
equilibrium modulation, or CREM.


Credit: Vanderbilt University

The flexible architecture of previous continuum robots achieved a worm-like
motion for macro-manipulation. The robot is segmented with discs or rings like
the body of an earthworm. Each disc is joined together by tiny backbones, or
actuation tubes. By adding small elastic wires inside the actuation tubes and
moving wires up or down, the static equilibrium of the plates changes, creating
motion at the micrometer scale.

"This new class of robots will provide micro-precision while traversing
macroscale sinuous pathways to the operation site. Potential benefits include
exact tissue reconstruction and complete surgical eradication of tumors," said
Simaan, an affiliate of the Vanderbilt Institute for Surgery and Engineering.



The robot uses tubular secondary backbones to achieve the large scale of motion.
By pushing and pulling on them, the continuum robot configuration changes. The
addition of wires that can slide in and out of the tubular backbones enabled the
research team to modulate the equilibrium shape.

Additionally, extensive testing is underway for the incorporation of optical
coherence tomography, which is effectively "optical ultrasound" that allows
imaging reflections from within tissue.

Simaan and his colleagues, mechanical engineering graduate student Giuseppe Del
Giudice, Research Assistant Professor of Ophthalmology and Visual Science
Jin-Hui Shen and physician Karen M. Joos, Joseph N. and Barbara H. Ellis Family
Professor of Ophthalmology, have accomplished a preliminary integration of a
custom-made OCT probe.

Joos' particular research interest is the use of miniature OCT probes with
robotic surgical tools to improve visualization for procedures inside the eye.
Del Giudice's expertise is in design and control of micro-continuum medical
robots, specifically micromanipulation for ophthalmic surgery.

Extending the capabilities of a standard continuum robot in terms of micro-scale
motion and targeting could have a deep impact in microsurgery by providing
significantly increased dexterity, controllability and precision to surgeons or
even the pioneering of previously impossible procedures, Simaan said.

Provided by Vanderbilt University
Citation: New continuum robot design achieves motion resolutions of 1 micron or
less (2019, November 18) retrieved 9 May 2023 from
https://techxplore.com/news/2019-11-continuum-robot-motion-resolutions-micron.html
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