Toward a solution to the snapping problem in a concentric-tube continuum robot: Grooved tubes with anisotropy

Kim, Ji-Suk; Lee, Dae-Young; Kim, Keri; Kang, Sungchul; Cho, Kyu-Jin

doi:10.1109/icra.2014.6907723

Cited by 34 publications

(16 citation statements)

References 15 publications

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“…Wei et al created a similar manipulator using triangular cuts [28]. Several groups have recently explored methods of conducting finite element analyses to aid in design [29], [30], [31]. Our wrist design most closely resembles the catheter designs of Haga et al and Bell et al [32], [33] and the needle design of Ryu et al [34].…”

Section: Introductionmentioning

confidence: 99%

A wrist for needle-sized surgical robots

York

Swaney

Gilbert

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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The needle-sized surgical tools used in arthroscopy, otolaryngology, and other surgical fields could become even more valuable to surgeons if endowed with the ability to navigate around sharp corners to manipulate or visualize tissue. We present a needle-sized wrist design that grants this ability. It can be easily interfaced with manual tools or concentric tube robots and is straightforward and inexpensive to manufacture. The wrist consists of a nitinol tube with several asymmetric cutouts, actuated by a tendon. Perhaps counter-intuitively, within this seemingly simple design concept, design optimization is challenging due to the number of parameters available and nonlinearities in material properties. In this paper, we examine a subset of possible geometries and derive kinematic and static models. Experimental results with a 1.16 mm diameter prototype validate the models. Lastly, we provide a discussion summarizing the lessons learned in our early experience designing and fabricating wrists of this type.

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Section: Introductionmentioning

confidence: 99%

A wrist for needle-sized surgical robots

York

Swaney

Gilbert

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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“…A solution to this challenge that we employed in this paper was to retract all tubes and the needle such that their tips do not pass into the bending tip of the bronchoscope during bronchoscope deployment into the lung. Another possible approach would be laser machining the tubes to decrease their bending stiffness, as was done for other purposes in [20]. …”

Section: Discussionmentioning

confidence: 99%

Tendons, concentric tubes, and a bevel tip: Three steerable robots in one transoral lung access system

Swaney

Mahoney

Remirez

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Lung cancer is the most deadly form of cancer, and survival depends on early-stage diagnosis and treatment. Transoral access is preferable to traditional between-the-ribs needle insertion because it is less invasive and reduces risk of lung collapse. Yet many sites in the peripheral zones of the lung or distant from the bronchi cannot currently be accessed transorally, due to the relatively large diameter and lack of sufficient steerablity of current instrumentation. To remedy this, we propose a new robotic system that uses a tendon-actuated device (bronchoscope) as a first stage for deploying a concentric tube robot, which itself is a vehicle through which a bevel steered needle can be introduced into the soft tissue of the lung outside the bronchi. In this paper we present the various components of the system and the workflow we envision for deploying the robot to a target using image guidance. We describe initial validation experiments in which we puncture ex vivo bronchial wall tissue and also target a nodule in a phantom with an average final tip error of 0.72 mm.

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“…Therefore, f min , which corresponds to the minimum value of f H must satisfy the following expression: Note 1: If the target line has linear segments, then κ(s) = 0 and I(s) → ∞ from Eqs. (10) and (11). This type of a target line is impractical and it must be modified.…”

Section: Procedures To Optimally Adjust the Flexural Rigiditymentioning

confidence: 99%

“…Therefore, the equivalent moment of inertia of area I and the equivalent modulus of section Z [11] is defined by considering the bending of a pipe with slits with respect to that of a pipe without slits. I and Z can, respectively, be calculated by the following expressions:…”

Section: Equivalent Moment Of Inertia Of Areamentioning

confidence: 99%

Optimization of the flexural rigidity of a concentric pipe used in transmitting rotation for arc-shaped forceps

Noda¹,

Takayama²,

Omata³

2017

Robomech J

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Arc-shaped forceps are important in pharyngeal cancer surgery, endoscopic sinus surgery, and single port surgery. Rotating the gripper of an arc-shaped forceps with respect to its shaft axis can improve the manipulability of the forceps. Concentric pipe structures consisting of inner and outer pipes are often used for this purpose. The inner pipe transmits rotations from its proximal end to distal end. However, the shape of the bent inner pipe is generally different from that of the outer pipe, and this causes large friction between the outer and inner pipes. To reduce friction, a plastic tube is often used for the inner pipe. However, since its torsional rigidity is low, this results in a large twist angle. This paper proposes a procedure to fit a metal bent inner pipe to an outer pipe by adjusting the flexural rigidity of the inner pipe with slits to reduce the friction. The procedure minimizes the twist angle between the proximal and distal end of the arc-shaped forceps by reducing the torque required to rotate its metal inner pipe. We develop a 5 mm forceps with a 3.5 mm inner pipe. The twist angle is 2.8° when a load torque of 20 Nmm is applied, which is a typical load torque for suturing, whereas the twist angle of a PEEK (polyetheretherketone) inner pipe is 24.3° in simulation. Ex vivo experiments show that the required forceps torque is small in simulated clinical scenarios.

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Toward a solution to the snapping problem in a concentric-tube continuum robot: Grooved tubes with anisotropy

Cited by 34 publications

References 15 publications

A wrist for needle-sized surgical robots

A wrist for needle-sized surgical robots

Tendons, concentric tubes, and a bevel tip: Three steerable robots in one transoral lung access system

Optimization of the flexural rigidity of a concentric pipe used in transmitting rotation for arc-shaped forceps

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