Design of a new cable-driven manipulator with a large open lumen: Preliminary applications in the minimally-invasive removal of osteolysis

Kutzer, Michael D. M.; Segreti, Sean M.; Brown, Christopher Y.; Armand, Mehran; Taylor, Russell H.; Mears, Simon C.

doi:10.1109/icra.2011.5980285

Cited by 125 publications

(91 citation statements)

References 10 publications

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“…This project is a continuation of research focused on developing surgical tools for removal of unhealthy bone tissue adjacent to the acetabular component (the "socket" portion of a ball-and-socket joint) of an artificial hip implant [12], [13]. The immediate application is for a dexterous manipulator that can fit through existing screw holes (6mm diameter) in the acetabular component, and serve as a stiff, high-strength shell through which a variety of tools can be passed (see Fig.…”

Section: Introductionmentioning

confidence: 99%

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A continuum manipulator made of interlocking fibers

Moses

Kutzer

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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A new type of continuum manipulator is presented, in which the body of the device is made up of identical, repeated interlocking fibers. A working prototype is demonstrated. Basic models describing the kinematics and mechanical properties of the device are developed, and their predictions are compared with the performance of the physical prototype. Advantages of the interlocking design include improved strength due to better load distribution, controllable stiffness, and a large open lumen.

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Section: Introductionmentioning

confidence: 99%

“…Flagella are long, thin appendages to cells, primarily used for locomotion [10], [11]. The fluoroscopic image shows unhealthy bone tissue being removed while the acetabular component remains fixed in place in the pelvis [12], [13].…”

Section: Introductionmentioning

confidence: 99%

A continuum manipulator made of interlocking fibers

Moses

Kutzer

et al. 2013

2013 IEEE International Conference on Robotics and Automation

Self Cite

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“…A patent from Biosense Webster [17] illustrated the similar concept design of the asymmetric catheter sheath using the hypotube with notches to accomplish the self-collision or using the different durometer portions. Also, the dexterous manipulator with notches for the osteolysis [18] rendered the effects of self-collision when the large deflection occurred. However, the advantages of CCMs are still not investigated to reveal their potential applications of orientation capability for the dexterous manipulators.…”

Section: B Structure Designmentioning

confidence: 99%

A Contact-Aided Asymmetric Steerable Catheter for Atrial Fibrillation Ablation

Gao

Zou

Liang

et al. 2017

IEEE Robot. Autom. Lett.

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Abstract-Electrical isolation using the ablation catheter has been widely used as the golden standard for the treatment of atrial fibrillation. Clinical practice shows that the tip orientation affects the formation of the effective lesion size. However, the traditional unidirectional or bidirectional catheter with the compliant bending shapes cannot provide great orientation capability to target the lesion paths asymmetric to the catheter's entry point. In this letter, we propose a two-dimensional (2-D) tendon-actuated asymmetric catheter to render two different bending characteristics to adapt to the special anatomy. The contact-aided compliant mechanism is adopted by designing the asymmetric blocks to form the self-collision in one lateral bending direction. Kinematics with asymmetric bends under the free bend and constraint bend are investigated. The algorithm of 3-D path exploration in the confined workspace is proposed to validate the reachability. The bending angles of two asymmetric bends are compared and the 3-D phantom study is carried out to validate its effectiveness. Results indicate that the contact-aided compliant mechanism can be integrated with the steerable catheter successfully to help form the different bending characteristics, finally improving the tip orientation capability to the specific ablation line lesions.Index Terms-Asymmetric bend, contact-aided compliant mechanism, path exploration, steerable catheter.

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“…They can be used as catheters for ablation [3,4], sheaths for irrigation/ adsorption or some miniature tools [5,6], endoscopic surgeries [7], or other steerable instruments [8] or robots [9,10]. The common use of the actuation is the cable or wire as the tendon, which is inserted into the conduit to interact with the flexible body of TA-DMs to generate the deflection.…”

Section: Introductionmentioning

confidence: 99%

“…Tendon-actuated dexterous manipulators (TA-DMs) can serve as end-effectors to provide great flexibility and maneuverability, which are widely used in a variety of fields [1], especially for minimally invasive surgeries in the confined anatomy [2][3][4][5][6][7][8][9][10]. They can be used as catheters for ablation [3,4], sheaths for irrigation/ adsorption or some miniature tools [5,6], endoscopic surgeries [7], or other steerable instruments [8] or robots [9,10].…”

Section: Introductionmentioning

confidence: 99%

A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators

Gao

Zou

Wang

et al. 2017

Journal of Mechanisms and Robotics

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Continuum robots present the great dexterity and compliance as dexterous manipulators to accomplish complex positioning tasks in confined anatomy during minimally invasive surgery. Tendon actuation is one of the most popular approaches, which is to insert the tendon to eccentrically go through and interact with the flexible backbone to accomplish compliant bends. However, hysteresis of tip trajectory of tendon actuated dexterous manipulators (TA-DMs) has been observed during the loading and unloading procedure, which is mainly caused by the hindered friction at discrete interactions between the actuation tendon and conduits. This paper aims to propose a general friction model to describe the interactions and friction profile at the multiple discrete contact points for tendon actuated dexterous manipulators under the history-dependent tendon tension. The friction model was integrated into the beam theory to describe the hysteresis and loading history-dependent behavior by solving the profiles of tendon force, normal force, and friction force, as well as the deflection of the dexterous manipulator. Experiments were carried out to validate the effectiveness of the proposed friction model. Results indicate that the friction model can successfully describe the discrete interaction and predict the deflection of dexterous manipulator subject to the different tendon loading histories. Furthermore, the effects of discrete friction to the tendon force propagation and the loading history-dependent behavior are discussed.

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Design of a new cable-driven manipulator with a large open lumen: Preliminary applications in the minimally-invasive removal of osteolysis

Cited by 125 publications

References 10 publications

A continuum manipulator made of interlocking fibers

A continuum manipulator made of interlocking fibers

A Contact-Aided Asymmetric Steerable Catheter for Atrial Fibrillation Ablation

A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators

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