2011 IEEE International Conference on Robotics and Automation 2011
DOI: 10.1109/icra.2011.5980285
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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

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Cited by 129 publications
(95 citation statements)
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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%
See 1 more Smart Citation
“…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%
“…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 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%
“…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%