Design and kinematic characterization of a surgical manipulator with a focus on treating osteolysis

Murphy, Ryan J.; Kutzer, Michael D. M.; Segreti, Sean M.; Lucas, Blake C.; Armand, Mehran

doi:10.1017/s0263574713001082

Cited by 55 publications

(51 citation statements)

References 27 publications

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“…However, this design lacks a working channel that is required by our platform. Other variations work by selecting elastic tubes and cutting parallel notches to facilitate tube bending [8]. The major concern is metal fatigue, especially for those near the notches.…”

Section: Existing Designs Of Continuum Manipulatorsmentioning

confidence: 99%

Design and analysis of a wire-driven flexible manipulator for bronchoscopic interventions

Liu

Bergeles

Yang

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-Bronchoscopic interventions are widely performed for the diagnosis and treatment of lung diseases. However, for most endobronchial devices, the lack of a bendable tip restricts their access ability to get into distal bronchi with complex bifurcations. This paper presents the design of a new wire-driven continuum manipulator to help guide these devices. The proposed manipulator is built by assembling miniaturized blocks that are featured with interlocking circular joints. It has the capability of maintaining its integrity when the lengths of actuation wires change due to the shaft flex. It allows the existence of a relatively large central cavity to pass through other instruments and enables two rotational degrees of freedom. All these features make it suitable for procedures where tubular anatomies are involved and the flexible shafts have to be considerably bent in usage, just like bronchoscopic interventions. A kinematic model is built to estimate the relationship between the translations of actuation wires and the manipulator tip position. A scale-up model is produced for evaluation experiments and the results validate the performance of the proposed mechanism.

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Section: Existing Designs Of Continuum Manipulatorsmentioning

confidence: 99%

Design and analysis of a wire-driven flexible manipulator for bronchoscopic interventions

Liu

Bergeles

Yang

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…A full description of the manipulator design and the associated fabrication process can be found in [2], [3]. The relevant kinematic model of the manipulator is presented in [4], [9].…”

Section: Manipulator Descriptionmentioning

confidence: 99%

“…Current standard-of-care achieves, at most, 50% coverage of the osteolytic lesion [1] due to a lack of dexterous tools. An underactuated, snake-like manipulator has recently been developed for the treatment of these lesions [2], [3]. This manipulator fits through the screw holes in an acetabular component of the implant, improving treatment capabilities to over 94% [3], [4].…”

Section: Introductionmentioning

confidence: 99%

Effects of tools inserted through snake-like surgical manipulators

Murphy

Otake

Wolfe

et al. 2014

2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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Snake-like manipulators with a large, open lumen can offer improved treatment alternatives for minimally- and less-invasive surgeries. In these procedures, surgeons use the manipulator to introduce and control flexible tools in the surgical environment. This paper describes a predictive algorithm for estimating manipulator configuration given tip position for nonconstant curvature, cable-driven manipulators using energy minimization. During experimental bending of the manipulator with and without a tool inserted in its lumen, images were recorded from an overhead camera in conjunction with actuation cable tension and length. To investigate the accuracy, the estimated manipulator configuration from the model and the ground-truth configuration measured from the image were compared. Additional analysis focused on the response differences for the manipulator with and without a tool inserted through the lumen. Results indicate that the energy minimization model predicts manipulator configuration with an error of 0.24 ± 0.22mm without tools in the lumen and 0.24 ± 0.19mm with tools in the lumen (no significant difference, p = 0.81). Moreover, tools did not introduce noticeable perturbations in the manipulator trajectory; however, there was an increase in requisite force required to reach a configuration. These results support the use of the proposed estimation method for calculating the shape of the manipulator with an tool inserted in its lumen when an accuracy range of at least 1mm is required.

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“…Previous efforts for intraoperative control of the DCM involved developing models for estimating the shape from cable-length measurements [8, 9], as well as the intermittent use of x-ray for updating the model estimation [10]. This approach would, however, require a trade-off between accurate real-time control and the amount of x-ray exposure to the patient.…”

Section: Introductionmentioning

confidence: 99%

Large deflection shape sensing of a continuum manipulator for minimally-invasive surgery

Líu

Farvardin

Pedram

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Shape sensing techniques utilizing Fiber Bragg grating (FBG) arrays can enable real-time tracking and control of dexterous continuum manipulators (DCM) used in minimally invasive surgeries. For many surgical applications, the DCM may need to operate with much larger curvatures than what current shape sensing methods can detect. This paper proposes a novel shape sensor, which can detect a radius of curvature of 15 mm for a 35 mm long DCM. For this purpose, we used FBG sensors along with nitinol wires as the supporting substrates to form a triangular cross section. For verification, we assembled the sensor inside the wall of the DCM. Experimental results indicate that the proposed sensor can detect the DCM's curvature with an average error of 3.14%.

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Design and kinematic characterization of a surgical manipulator with a focus on treating osteolysis

Cited by 55 publications

References 27 publications

Design and analysis of a wire-driven flexible manipulator for bronchoscopic interventions

Design and analysis of a wire-driven flexible manipulator for bronchoscopic interventions

Effects of tools inserted through snake-like surgical manipulators

Large deflection shape sensing of a continuum manipulator for minimally-invasive surgery

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