Nitinol rod driven discrete continuum robot for transoral surgery assistance and planar path planning with segmented CT images

Nitinol rod driven discrete continuum robot for transoral surgery assistance and planar path planning with segmented CT images | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Nitinol rod driven discrete continuum robot for transoral surgery assistance and planar path planning with segmented CT images Yeoun-Jae Kim, Jieun Oh, Daehan Wi This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-5283010/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract To address the possibility of assisting the clinicians to perform transoral surgery, a Nitinol rod driven discrete continuum robot with 3 sections and 9 units is developed by authors. The overall length of the discrete continuum robot mechanism is 120 mm and the unit diameter is 15 mm with 20 mm height. The distal and proximal sections are designed to be bendable independently in 2 degree of freedom (DOF) with four Nitinol rod each. To investigate the Nitinol rod displacement change to section bending angle relationship, 2D section bending tests and ANSYS simulation are performed. Moreover, to address the design feasibility of the discrete continuum robot in clinical environment, 11 patients' head and neck CT images are manually segmented to render 11 3D oral cavity and made a fictituous 11 reference passage from lips to oropharynx. Using the 11 fictituous reference passage, planar path planning simulations are performed with the designed 2 sections 8 units discrete continuum robot. To verify the simulations, path following tests are conducted with 3 reference passages. The simulation results show that the average reference path following error is within RMS (root mean square) 1.9705 mm in maximum introducing length and the test results presents that the maximum bending angle difference between the simulation and test is 9.6 degree. Physical sciences/Engineering/Biomedical engineering Physical sciences/Engineering/Mechanical engineering Health sciences/Health care/Medical imaging/Tomography Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-5283010","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":374389778,"identity":"9ea28ab6-3347-4c97-a399-6c8d8468fb39","order_by":0,"name":"Yeoun-Jae Kim","email":"","orcid":"","institution":"Asan Medical Center","correspondingAuthor":false,"prefix":"","firstName":"Yeoun-Jae","middleName":"","lastName":"Kim","suffix":""},{"id":374389779,"identity":"506b9f43-aedd-498f-8c2b-ac78ecb5a93e","order_by":1,"name":"Jieun Oh","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAxklEQVRIiWNgGAWjYBACxmYQaWAjBxMwIFJLQZox8Vog4MPhxAaitTC3Mx+TLjBgTt/OfvgBc0UFg7F5AwEtjM1sadIzDNhyd/akGTCeOcNgJnOAoBYeM2keA57cDTd4GBgb2xhsJAg5jLGZ/xtQi0S6AVjLP6K08LABtRgkQLQ0MJgRoYXN2JrHIMFww5k0g4MNxySMCWox7D/88DbPn//yBscPP3zYUGNjOIOglgYkzgEGBoJ2MDDIE1YyCkbBKBgFIx4AADzKM7s+mAFuAAAAAElFTkSuQmCC","orcid":"","institution":"National Cancer Center","correspondingAuthor":true,"prefix":"","firstName":"Jieun","middleName":"","lastName":"Oh","suffix":""},{"id":374389780,"identity":"815d83a9-6dbd-4ab7-a6a8-5ebc9d9cdeb2","order_by":2,"name":"Daehan Wi","email":"","orcid":"","institution":"Asan Medical Center","correspondingAuthor":false,"prefix":"","firstName":"Daehan","middleName":"","lastName":"Wi","suffix":""}],"badges":[],"createdAt":"2024-10-17 13:08:07","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-5283010/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-5283010/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":71965864,"identity":"076106b4-d733-42de-b5d7-f0121a7e6e7c","added_by":"auto","created_at":"2024-12-20 07:32:43","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":15587595,"visible":true,"origin":"","legend":"","description":"","filename":"originalsubmission2.pdf","url":"https://assets-eu.researchsquare.com/files/rs-5283010/v1_covered_fc27457a-f666-4c5c-aff5-c48be5568130.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Nitinol rod driven discrete continuum robot for transoral surgery assistance and planar path planning with segmented CT images","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"","lastPublishedDoi":"10.21203/rs.3.rs-5283010/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-5283010/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"To address the possibility of assisting the clinicians to perform transoral surgery, a Nitinol rod driven discrete continuum robot with 3 sections and 9 units is developed by authors. 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The simulation results show that the average reference path following error is within RMS (root mean square) 1.9705 mm in maximum introducing length and the test results presents that the maximum bending angle difference between the simulation and test is 9.6 degree. 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