ArticleIEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation2015
A Wrist for Needle-Sized Surgical Robots.
Article in IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation, 2015. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 27 papers.
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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.
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Who cites it
27 citing papers in PubMed.
- Single twistable tendon-driven continuum robots.Nature communications · 2026Article
- Minimally Invasive Neurosurgical Robot for MRI-Guided Intratumoral Therapeutic Delivery.IEEE transactions on medical robotics and bionics · 2026Article
- Serially-Connected Soft Continuum Robots for Endovascular Emergencies.IEEE transactions on medical robotics and bionics · 2025Article
- Model-based Parameter Selection for a Steerable Continuum Robot - Applications to Bronchoalveolar Lavage (BAL).IEEE robotics and automation letters · 2025Article
- Shape Sensing and Kinematic Control of a Cable-Driven Continuum Robot Based on Stretchable Capacitive Sensors.Sensors (Basel, Switzerland) · 2024Article
- Image-based Force Localization and Estimation of a Micro-scale Continuum Guidewire Robot.IEEE transactions on medical robotics and bionics · 2024Article
- A Kinetostatic Model for Concentric Push-Pull Robots.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2024Article
- Enhancing the precision of continuum robots in orthopedic surgery based on mechanical principles.Frontiers in bioengineering and biotechnology · 2024Article
- Flexible endoscopic instrument for diagnosis and treatment of early gastric cancer.Medical & biological engineering & computing · 2023Review
- Model-based Design of the COAST Guidewire Robot for Large Deflection.IEEE robotics and automation letters · 2023Article
- Steerable catheter based on wire-driven seamless artificial blood vessel tube for endoscopic retrograde transpapillary interventions.International journal of computer assisted radiology and surgery · 2023Article
- Kinematic Modeling and Jacobian-based Control of the COAST Guidewire Robot.IEEE transactions on medical robotics and bionics · 2022Article
- HDR Brachytherapy Planning using Active Needles - Preliminary Investigation on Dose Planning.Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics · 2022Article
- Modeling and Operator Control of a Robotic Tool for Bidirectional Manipulation in Targeted Prostate Biopsy.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2022Article
- MR-Tracked Deflectable Stylet for Gynecologic Brachytherapy.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2022Article
- Steering a Tendon-Driven Needle in High-Dose-Rate Prostate Brachytherapy for Patients with Pubic Arch Interference.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2021Article
- An Origami-Based Soft Robotic Actuator for Upper Gastrointestinal Endoscopic Applications.Frontiers in robotics and AI · 2021Article
- Eyes in Ears: A Miniature Steerable Digital Endoscope for Trans-Nasal Diagnosis of Middle Ear Disease.Annals of biomedical engineering · 2021Article
- Computational Optimization of Notch Spacing for a Transnasal Ear Endoscopy Continuum Robot.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2020Article
- Design, Modeling, and Control of a Coaxially Aligned Steerable (COAST) Guidewire Robot.IEEE robotics and automation letters · 2020Article
Corrections and comments
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Authors and funding
4 authors.
Funding
Abstract
The needle-sized surgical tools used in arthroscopy, otolaryngology, and other surgical fields could become even more valuable to surgeons if endowed with the ability to navigate around sharp corners to manipulate or visualize tissue. We present a needle-sized wrist design that grants this ability. It can be easily interfaced with manual tools or concentric tube robots and is straightforward and inexpensive to manufacture. The wrist consists of a nitinol tube with several asymmetric cutouts, actuated by a tendon. Perhaps counter-intuitively, within this seemingly simple design concept, design optimization is challenging due to the number of parameters available and nonlinearities in material properties. In this paper, we examine a subset of possible geometries and derive kinematic and static models. Experimental results with a 1.16 mm diameter prototype validate the models. Lastly, we provide a discussion summarizing the lessons learned in our early experience designing and fabricating wrists of this type.
Identifiers
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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.