ArticleIEEE robotics and automation letters2017
Design of a Compact Actuation and Control System for Flexible Medical Robots.
Article in IEEE robotics and automation letters, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
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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.
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Who cites it
6 citing papers in PubMed.
- 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
- Wire-driven flexible manipulator with constrained spherical joints for minimally invasive surgery.International journal of computer assisted radiology and surgery · 2019Article
- Towards Patient-Specific 3D-Printed Robotic Systems for Surgical Interventions.IEEE transactions on medical robotics and bionics · 2019Article
- A concentric tube-based 4-DOF puncturing needle with a novel miniaturized actuation system for vitrectomy.Biomedical engineering online · 2019Article
- Toward the Design of Personalized Continuum Surgical Robots.Annals of biomedical engineering · 2018Article
- Design of patient-specific concentric tube robots using path planning from 3-D ultrasound.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2017Article
Corrections and comments
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Authors and funding
3 authors.
Funding
Abstract
Flexible medical robots can improve surgical procedures by decreasing invasiveness and increasing accessibility within the body. Using preoperative images, these robots can be designed to optimize a procedure for a particular patient. To minimize invasiveness and maximize biocompatibility, the actuation units of flexible medical robots should be placed fully outside the patient's body. In this letter, we present a novel, compact, lightweight, modular actuation, and control system for driving a class of these flexible robots, known as concentric tube robots. A key feature of the design is the use of three-dimensional printed waffle gears to enable compact control of two degrees of freedom within each module. We measure the precision and accuracy of a single actuation module and demonstrate the ability of an integrated set of three actuation modules to control six degrees of freedom. The integrated system drives a three-tube concentric tube robot to reach a final tip position that is on average less than 2 mm from a given target. In addition, we show a handheld manifestation of the device and present its potential applications.
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Registered trials
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