Concentric tube dual manipulator
An interesting concept was patented by Vanderbilt last year: a dual-arm concentric-tube robot manipulator for e.g., prostate procedures:
"A robotic surgical apparatus includes at least two tubes
having a nested, concentric configuration with an inner tube positioned
in an outer tube. The tubes are configured to deliver surgical therapy. A
first tube carrier connected to the outer tube and a second tube
carrier connected to the inner tube. The first tube carrier and its
associated outer tube and the second tube carrier and its associated
inner tube form a robotic arm assembly. An actuator for actuating the
robotic arm assembly is configured to receive the robotic arm assembly
via a tube insertion interface into which the robotic arm assembly can
be inserted."
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