Optimizing Tube Precurvature to Enhance Elastic Stability of Concentric Tube Robots [0.03%]
优化管状机器人预弯形状以增强同心管状机器人的弹性稳定性
Junhyoung Ha,Frank C Park,Pierre E Dupont
Junhyoung Ha
Robotic instruments based on concentric tube technology are well suited to minimally invasive surgery since they are slender, can navigate inside small cavities and can reach around sensitive tissues by taking on shapes of varying curvature...
Tania K Morimoto,Allison M Okamura
Tania K Morimoto
Concentric tube surgical robots are minimally invasive devices with the advantages of snake-like reconfigurability, long and thin form factor, and placement of actuation outside the patient's body. These robots can also be designed and manu...
Development of a Meso-Scale SMA-Based Torsion Actuator for Image-Guided Procedures [0.03%]
一种用于图像引导干预的介观形状记忆合金扭转执行器开发研究
Jun Sheng,Dheeraj Gandhi,Rao Gullapalli et al.
Jun Sheng et al.
This paper presents the design, modeling, and control of a meso-scale torsion actuator based on shape memory alloy (SMA) for image-guided surgical procedures. Developing a miniature torsion actuator is challenging, but it opens the possibil...
Paul M Loschak,Laura J Brattain,Robert D Howe
Paul M Loschak
A system for automatically pointing ultrasound (US) imaging catheters will enable clinicians to monitor anatomical structures and track instruments during interventional procedures. Off-the-shelf US catheters provide high quality US images ...
Incorporating Human-like Walking Variability in an HZD-Based Bipedal Model [0.03%]
基于HZD的双足模型中引入类似人的步行变异性
Anne E Martin,Robert D Gregg
Anne E Martin
Predictive simulations of human walking could be used to investigate a wide range of questions. Promising moderately complex models have been developed using the robotics control technique hybrid zero dynamics (HZD). Existing simulations of...
Jacobian-Based Iterative Method for Magnetic Localization in Robotic Capsule Endoscopy [0.03%]
基于雅可比迭代的机器人胶囊内镜磁场定位方法研究
Christian Di Natali,Marco Beccani,Nabil Simaan et al.
Christian Di Natali et al.
The purpose of this study is to validate a Jacobian-based iterative method for real-time localization of magnetically controlled endoscopic capsules. The proposed approach applies finite-element solutions to the magnetic field problem and l...
Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test [0.03%]
同轴管机器人弹性稳定性的度量与设计测试方法研究
Hunter B Gilbert,Richard J Hendrick,Robert J Webster rd
Hunter B Gilbert
Concentric tube robots are needle-sized manipulators which have been investigated for use in minimally invasive surgeries. It was noted early in the development of these devices that elastic energy storage can lead to rapid snapping motion ...
Comparative Evaluation of Handheld Robot-Aided Intraocular Laser Surgery [0.03%]
手持机器人辅助眼前节激光手术的比较评估研究论文
Sungwook Yang,Robert A MacLachlan,Joseph N Martel et al.
Sungwook Yang et al.
This paper presents robot-aided intraocular laser surgery using a handheld robot known as Micron. The micromanipulator incorporated in Micron enables visual servoing of a laser probe, while maintaining a constant distance of the tool tip fr...
Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment [0.03%]
同心管机器人作为可控制针头：实现跟随领导者部署
Hunter B Gilbert,Joseph Neimat,Robert J Webster rd
Hunter B Gilbert
Concentric tube robots can enable new clinical interventions if they are able to pass through soft tissue, deploy along desired paths through open cavities, or travel along winding lumens. These behaviors require the robot to deploy in such...
Seok Chang Ryu,Zhan Fan Quek,Je-Sung Koh et al.
Seok Chang Ryu et al.
An active needle is proposed for the development of magnetic resonance imaging (MRI)-guided percutaneous procedures. The needle uses a low-transition-temperature shape memory alloy (LT SMA) wire actuator to produce bending in the distal sec...