DocumentCode :
2594657
Title :
Robotic neuro-emdoscope with concentric tube augmentation
Author :
Butler, Evan J. ; Hammond-Oakley, Robert ; Chawarski, Szymon ; Gosline, Andrew H. ; Codd, Patrick ; Anor, Tomer ; Madsen, Joseph R. ; Dupont, Pierre E. ; Lock, Jesse
Author_Institution :
Sterling Point Res. LLC, Winchester, MA, USA
fYear :
2012
fDate :
7-12 Oct. 2012
Firstpage :
2941
Lastpage :
2946
Abstract :
Surgical robots are gaining favor in part due to their capacity to reach remote locations within the body. Continuum robots are especially well suited for accessing deep spaces such as cerebral ventricles within the brain. Due to the entry point constraints and complicated structure, current techniques do not allow surgeons to access the full volume of the ventricles. The ability to access the ventricles with a dexterous robot would have significant clinical implications. This paper presents a concentric tube manipulator mated to a robotically controlled flexible endoscope. The device adds three degrees of freedom to the standard neuroendoscope and roboticizes the entire package allowing the operator to conveniently manipulate the device. To demonstrate the improved functionality, we use an in-silica virtual model as well as an ex-vivo anatomic model of a patient with a treatable form of hydrocephalus. In these experiments we demonstrate that the augmented and roboticized endoscope can efficiently reach critical regions that a manual scope cannot.
Keywords :
dexterous manipulators; endoscopes; medical robotics; patient treatment; surgery; concentric tube augmentation; concentric tube manipulator; continuum robots; dexterous robot; entry point constraints; ex-vivo anatomic model; hydrocephalus; in-silica virtual model; remote locations; robotic neuro-endoscope; surgical robots; Actuators; Electron tubes; Endoscopes; Manipulators; Surgery; Wires;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
ISSN :
2153-0858
Print_ISBN :
978-1-4673-1737-5
Type :
conf
DOI :
10.1109/IROS.2012.6386022
Filename :
6386022
Link To Document :
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