Evidence map›Paper›PMID 41446660›Full record

ArticleIEEE transactions on medical robotics and bionics2025

Design and Validation of a Compact Concentric-Tube Robot for Percutaneous Nephrolithotomy.

Navid Feizi, Filipe C Pedrosa, Ruisi Zhang, Dianne Sacco, Rajni V Patel, Jagadeesan Jayender

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in IEEE transactions on medical robotics and bionics, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.

0numbers the graph read from it
0cells of the map it votes in
2citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from 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.

2 · The registry

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.

3 · Its place in the literature

Who cites it

2 citing papers in PubMed.

  1. Few-Shot Physics-Informed Neural Network for Shape Reconstruction of Concentric-Tube Robots.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2026
    Article
  2. [Collaborative motion control method for dual-arm surgical robots based on hybrid multi-stage optimization].Sheng wu yi xue gong cheng xue za zhi = Journal of biomedical engineering = Shengwu yixue gongchengxue zazhi · 2026
    Article
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

6 authors.

Navid FeiziCanadian Surgical Technologies and Advanced Robotics (CSTAR), London Health Sciences Centre (LHSC), London, ON N6A 5A5, Canada, and with the School of Biomedical Engineering, Western University, London, ON N6A 3K7, Canada, at the time of this work; supervisor: R.V. Patel. He is currently with the Department of Radiology at Brigham and Women's Hospital, and Harvard Medical School, Boston, MA 02115, USA.
Filipe C PedrosaCSTAR, and with the Department of Electrical and Computer Engineering, Western University; supervisor: R.V. Patel and J. Jayender.
Ruisi ZhangDepartment of Radiology at Brigham and Women's Hospital, and Harvard Medical School, Boston, MA 02115, USA, at the time of this work; supervisor: J. Jayender. She is currently with Intuitive Surgical, Orange, CT USA.
Dianne SaccoDepartment of Urology, Massachusetts General Hospital, and Harvard Medical School, Boston, MA 02115, USA, at the time of this work. She is currently at the VA Boston Healthcare System.
Rajni V PatelCSTAR, and with the Department of Electrical and Computer Engineering, the Department of Surgery, the Department of Clinical Neurological Sciences, and the School of Biomedical Engineering, Western University.
Jagadeesan JayenderDepartment of Radiology at Brigham and Women's Hospital, and Harvard Medical School, Boston, MA 02115, USA.

Funding

Robot-Assisted 3D ICE Catheter for Cardiac AblationR01EB028278 · NIBIB · BRIGHAM AND WOMEN'S HOSPITAL · PI JAGADEESAN, JAYENDER · 2020 to 2024
$2.0M
Image-registered, Hand-held, Concentric Tube Robot for Percutaneous Treatment of CalculiR01DK119269 · NIDDK · BRIGHAM AND WOMEN'S HOSPITAL · PI JAGADEESAN, JAYENDER · 2019 to 2023
$1.8M
NIBIB NIH HHS R01 EB028278NIDDK NIH HHS R01 DK119269
6 · The paper itself

Abstract

Concentric-tube robots (CTRs) have garnered significant attention in various minimally invasive procedures due to their small size and dexterity. Despite extensive technical advancements in the development of CTRs, there is a lack of design approaches specific to their function as surgical instruments. This study proposes a compact CTR specifically designed for percutaneous nephrolithotomy (PCNL), adaptable for both hand-held operation and mounting on a passive arm. We employ a parallel carriage-based design to reduce the device's cross-sectional footprint (46 mm diameter, 322 mm length) and localize the center of mass (570 g mass) beneath the grip area, enhancing ergonomic comfort and control. An ergonomic evaluation of the robot during the handling of the robot by expert urologists, as well as non-clinicians, showed better ergonomics than standard hand-held PCNL devices. Additionally, closed-loop position control of the distal end of the CTR was implemented based on resolved-motion rate inverse kinematics. The performance of the robot was empirically validated through experiments on a life-size abdominal phantom. The results showed mean closed-loop position errors of 1.2±0.8 mm for autonomous navigation to 100 target points on the stone, indicating a performance level in line with the specific requirements of PCNL.

Indexed as

concentric tube robothand-heldminimally invasive surgerypercutaneous nephrolithotomy

Identifiers

PMID41446660
PMCPMC12724541

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Registered trials

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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.