A wrist for needle-sized surgical robots

York, Peter A.; Swaney, Philip J.; Gilbert, Hunter B.; Webster, Robert J.

doi:10.1109/icra.2015.7139428

Cited by 78 publications

(48 citation statements)

References 33 publications

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“…York et al. [16] designed a needle-sized robot and built a static model with friction force to describe only the free bending. To our knowledge, the existing literature lacks models of notched DCMs with compliant joints subjected to the tendon force, friction force, and external forces and did not predict the hysteresis of DCM.…”

Section: Introductionmentioning

confidence: 99%

Mechanical Model of Dexterous Continuum Manipulators With Compliant Joints and Tendon/External Force Interactions

Gao

Murphy

Líu

et al. 2017

IEEE/ASME Trans. Mechatron.

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Dexterous continuum manipulators (DCMs) have been widely adopted for minimally- and less-invasive surgery. During the operation, these DCMs interact with surrounding anatomy actively or passively. The interaction force will inevitably affect the tip position and shape of DCMs, leading to potentially inaccurate control near critical anatomy. In this paper, we demonstrated a 2D mechanical model for a tendon actuated, notched DCM with compliant joints. The model predicted deformation of the DCM accurately in the presence of tendon force, friction force, and external force. A partition approach was proposed to describe the DCM as a series of interconnected rigid and flexible links. Beam mechanics, taking into consideration tendon interaction and external force on the tip and the body, was applied to obtain the deformation of each flexible link of the DCM. The model results were compared with experiments for free bending as well as bending in the presence of external forces acting at either the tip or body of the DCM. The overall mean error of tip position between model predictions and all of the experimental results was 0.62±0.41mm. The results suggest that the proposed model can effectively predict the shape of the DCM.

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Section: Introductionmentioning

confidence: 99%

Mechanical Model of Dexterous Continuum Manipulators With Compliant Joints and Tendon/External Force Interactions

Gao

Murphy

Líu

et al. 2017

IEEE/ASME Trans. Mechatron.

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show abstract

“…over 100,000 pixels as in [18]. Next, an asymmetric flexure wrist design has recently been proposed in the robotics literature that enables a bendable tip to be created in a small diameter, with a large open lumen [19], [20]. Small diameter is required, because it has been established that devices must be smaller than 2 mm (and ideally as small as possible) to pass through the Eustachian tube [21].…”

Section: Introductionmentioning

confidence: 99%

Through the Eustachian Tube and Beyond: A New Miniature Robotic Endoscope to See Into the Middle Ear

Fichera

Dillon

Zhang

et al. 2017

IEEE Robot. Autom. Lett.

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This paper presents a novel miniature robotic endoscope that is small enough to pass through the Eustachian tube and provide visualization of the middle ear (ME). The device features a miniature bending tip previously conceived of as a small-scale robotic wrist that has been adapted to carry and aim a small chip-tip camera and fiber optic light sources. The motivation for trans-Eustachian tube ME inspection is to provide a natural-orifice-based route to the ME that does not require cutting or lifting the eardrum, as is currently required. In this paper, we first perform an analysis of the ME anatomy and use a computational design optimization platform to derive the kinematic requirements for endoscopic inspection of the ME through the Eustachian tube. Based on these requirements, we fabricate the proposed device and use it to demonstrate the feasibility of ME inspection in an anthropomorphic model, i.e. a 3D-printed ME phantom generated from patient image data. We show that our prototype provides > 74% visibility coverage of the sinus tympani, a region of the ME crucial for diagnosis, compared to an average of only 6.9% using a straight, non-articulated endoscope through the Eustachian Tube.

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“…1). York et al [15] built a model of the notched wrist considering the friction at discrete corners to describe the deflection during the bending procedure successfully, but they did not evaluate the effects of friction during the unbending procedure. Kato et al [16,17] explored the deflection of a DITA-DM using the tendon propagation model integrated with friction to validate the shapes and hysteresis.…”

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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A wrist for needle-sized surgical robots

Cited by 78 publications

References 33 publications

Mechanical Model of Dexterous Continuum Manipulators With Compliant Joints and Tendon/External Force Interactions

Mechanical Model of Dexterous Continuum Manipulators With Compliant Joints and Tendon/External Force Interactions

Through the Eustachian Tube and Beyond: A New Miniature Robotic Endoscope to See Into the Middle Ear

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

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