Design and Validation of a Compact Concentric-Tube Robot for Percutaneous Nephrolithotomy.

ABSTRACT: Concentric-tube robots (CTRs) have garnered significant attention in various minimally invasive procedures due to their small size and dexterity. Despite extensive technical advancements in the development of CTRs, there is a lack of design approaches specific to their function as surgical instruments. This study proposes a compact CTR specifically designed for percutaneous nephrolithotomy (PCNL), adaptable for both hand-held operation and mounting on a passive arm. We employ a parallel carriage-based design to reduce the device's cross-sectional footprint (46 mm diameter, 322 mm length) and localize the center of mass (570 g mass) beneath the grip area, enhancing ergonomic comfort and control. An ergonomic evaluation of the robot during the handling of the robot by expert urologists, as w

SUBMITTER: Feizi N 

PROVIDER: S-EPMC12724541 | biostudies-literature | 2025 Nov

REPOSITORIES: biostudies-literature