A novel design of active cannula for MicroSurgery

摘要

This paper proposes a novel model of Active Cannula for Endonasal Surgery. Unlike conventional Active Cannula using concentric-tubes with pre-curvature and torsion in curved section, the novel model is likely the standard robot manipulator possessing rigid links and discrete joints. However, these tube-like links are inserted inside each other. With above characteristics, the proposed model allows the Active Cannula be easily controlled as the typical robot manipulator and well suit to minimally invasive surgery. The good results from analysis of the kinematics and working space of the proposed Active Cannula showed that this novel model is the promising design with significant advantages in contrast to typical concentric tube robots.