The invention is much stiffer than comparable morphable surgical manipulators, resulting in an increased ability to apply normal forces at the tip. In addition, the unique construction method leaves the lumen unobstructed for the passage of other tools, including a smaller version of the same style manipulator. As a result, this technology can be used as both a steerable guide cannula and or a dexterous manipulator, depending on the exact application.
Technical Details:
The new cable driven morphable manipulator developed by Johns Hopkins University inventors includes many desirable features for robotic surgery and dexterous manipulation. The manipulator is constructed of thin-walled super-elastic Nitinol tubes and contains through holes along the entire length of the thin walls, parallel to the long axis of the tube. Actuation cables run through these holes, which keeps the inner lumen of the tube completely unobstructed for the insertion of surgical instruments, sensors or other tools. Specially constructed notches in the tube result in a geometry that allows for flexible bending in designated directions, while preserving the overall stiffness of the structure in all other directions. This gives the morphable manipulator the ability to exert relatively high normal forces at the end point by only actuating the flexible directions.
Looking for Partners:
1) Surgery – the manipulator is primarily intended as a tool for robotic surgery or direct use by a surgeon. Its deformable shape allows it to enter a confined space through a small hold and reach many points within the surface. A specific surgical application of the morphable manipulator for the treatment of osteolytic bone in hip revision surgeries. 2) Robotics – the manipulator can also be used by a robot in place of a conventional arm or leg. It can wrap around poles or other small objects for climbing or can act as a snake-like arm for reaching through confined areas.
