ArticleIEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society2015
Concentric Tube Robot Design and Optimization Based on Task and Anatomical Constraints.
Article in IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, 2015. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 39 papers, 1 of them a synthesis that pooled it.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
39 citing papers in PubMed, 1 synthesis or guideline pooled it, 170 citations in OpenAlex.
- Review of surgical robotic systems for keyhole and endoscopic procedures: state of the art and perspectives.Frontiers of medicine · 2020Pooled it
- A Comprehensive General Model of Tendon-Actuated Concentric Tube Robots with Multiple Tubes and Tendons.IEEE transactions on medical robotics and bionics · 2026Article
- A concentric tube catheter for endoluminal interventions, steered and imaged via magnetic resonance imaging.Communications engineering · 2026Article
- A Semi-Automated Robotic Platform for Curvilinear Catheter Implantation in HDR Prostate and GYN Brachytherapy.Journal of medical robotics research · 2026Article
- Curved trajectories in stereotactic neurosurgery: is it feasible?Neurosurgical review · 2025Article
- [Thoughts and Prospects on Precision Control and Intelligent Positioning Robotic Systems Applied in Nasojejunal Feeding Tube Placement].Sichuan da xue xue bao. Yi xue ban = Journal of Sichuan University. Medical science edition · 2025Review
- Exceeding traditional curvature limits of concentric tube robots through redundancy resolution.The International journal of robotics research · 2024Article
- Modeling of and Experimenting with Concentric Tube Robots: Considering Clearance, Friction and Torsion.Sensors (Basel, Switzerland) · 2023Article
- Closed-form Kinematic Model and Workspace Characterization for Magnetic Ball Chain Robots.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2023Article
- On Surgical Planning of Percutaneous Nephrolithotomy with Patient-Specific CTRs.Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention · 2022Article
- Continuum Robots for Medical Interventions.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022Article
- A simulation study to investigate the use of concentric tube robots for epilepsy surgery.Child's nervous system : ChNS : official journal of the International Society for Pediatric Neurosurgery · 2022Article
- Targeting Epilepsy Through the Foremen Ovale: How Many Helical Needles are Needed?Annals of biomedical engineering · 2022Article
- Minimally Invasive Intracerebral Hemorrhage Evacuation: A review.Annals of biomedical engineering · 2022Review
- Heat-Mitigated Design and Lorentz Force-Based Steering of an MRI-Driven Microcatheter toward Minimally Invasive Surgery.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2022Article
- A Dynamic Model for Concentric Tube Robots.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2020Article
- Mechatronic Design of a Two-Arm Concentric Tube Robot System for Rigid Neuroendoscopy.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2020Article
- Continuum Robot With Follow-the-Leader Motion for Endoscopic Third Ventriculostomy and Tumor Biopsy.IEEE transactions on bio-medical engineering · 2020Article
- Optimizing Motion-Planning Problem Setup via Bounded Evaluation with Application to Following Surgical Trajectories.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2019Article
- Design optimization of a contact-aided continuum robot for endobronchial interventions based on anatomical constraints.International journal of computer assisted radiology and surgery · 2019Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
6 authors at 2 institutions in 2 countries.
Funding
Abstract
Concentric tube robots are catheter-sized continuum robots that are well suited for minimally invasive surgery inside confined body cavities. These robots are constructed from sets of pre-curved superelastic tubes and are capable of assuming complex 3D curves. The family of 3D curves that the robot can assume depends on the number, curvatures, lengths and stiffnesses of the tubes in its tube set. The robot design problem involves solving for a tube set that will produce the family of curves necessary to perform a surgical procedure. At a minimum, these curves must enable the robot to smoothly extend into the body and to manipulate tools over the desired surgical workspace while respecting anatomical constraints. This paper introduces an optimization framework that utilizes procedureor patient-specific image-based anatomical models along with surgical workspace requirements to generate robot tube set designs. The algorithm searches for designs that minimize robot length and curvature and for which all paths required for the procedure consist of stable robot configurations. Two mechanics-based kinematic models are used. Initial designs are sought using a model assuming torsional rigidity. These designs are then refined using a torsionally-compliant model. The approach is illustrated with clinically relevant examples from neurosurgery and intracardiac surgery.
Identifiers
What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.