ArticleIEEE transactions on bio-medical engineering2020
Continuum Robot With Follow-the-Leader Motion for Endoscopic Third Ventriculostomy and Tumor Biopsy.
Article in IEEE transactions on bio-medical engineering, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
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Who cites it
8 citing papers in PubMed, 69 citations in OpenAlex.
- A projection-based inverse kinematic model for extensible continuum robots and hyper-redundant robots with an elbow joint.Frontiers in robotics and AI · 2025Article
- Magnetic steering continuum robot for transluminal procedures with programmable shape and functionalities.Nature communications · 2024Article
- Using robotics to move a neurosurgeon's hands to the tip of their endoscope.Science robotics · 2023Article
- Progress in Control-Actuation Robotic System for Gastrointestinal NOTES Development.BioMed research international · 2022Review
- FAS-A Fully Actuated Segment for Tendon-Driven Continuum Robots.Frontiers in robotics and AI · 2022Article
- MemoBox: A mechanical follow-the-leader system for minimally invasive surgery.Frontiers in medical technology · 2022Article
- Towards FBG-Based Shape Sensing for Micro-scale and Meso-Scale Continuum Robots with Large Deflection.IEEE robotics and automation letters · 2020Article
- Transbronchial biopsy catheter enhanced by a multisection continuum robot with follow-the-leader motion.International journal of computer assisted radiology and surgery · 2019Article
Corrections and comments
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Authors and funding
5 authors at 2 institutions in 3 countries.
Funding
Abstract
backgroundIn a combined endoscopic third ventriculostomy (ETV) and endoscopic tumor biopsy (ETB) procedure, an optimal tool trajectory is mandatory to minimize trauma to surrounding cerebral tissue.
objectiveThis paper presents wire-driven multi-section robot with push-pull wire. The robot is tested to attain follow-the-leader (FTL) motion to place surgical instruments through narrow passages while minimizing the trauma to tissues.
methodsA wire-driven continuum robot with six sub-sections was developed and its kinematic model was proposed to achieve FTL motion. An accuracy test to assess the robot's ability to attain FTL motion along a set of elementary curved trajectory was performed. We also used hydrocephalus ventricular model created from human subject data to generate five ETV/ETB trajectories and conducted a study assessing the accuracy of the FTL motion along these clinically desirable trajectories.
resultsIn the test with elementary curved paths, the maximal deviation of the robot was increased from 0.47 mm at 30
conclusionWe present the application of a continuum robot with FTL motion to perform a combined ETV/ETB procedure. The validation study using human subject data indicated that the accuracy of FTL motion is relatively high. The study indicated that FTL motion may be useful tool for combined ETV and ETB.
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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.