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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Sophocleous, C. Christoforou, E.G. Shiakolas, P.S. Seimenis, I. Tsekos, N.V. Doumanidis, C.C. |
| Copyright Year | 2012 |
| Description | Author affiliation: Dept. of Mechanical and Manufacturing Engineering, University of Cyprus, Nicosia, Cyprus (Sophocleous, C.; Doumanidis, C.C.) || Dept. of Computer Science, University of Houston, Houston, TX, USA (Tsekos, N.V.) || KIOS Research Center, University of Cyprus, 75 Kallipoleos Avenue, 1687 Nicosia, Cyprus (Christoforou, E.G.) || Mechanical and Aerospace Engineering, The University of Texas at Arlington, Arlington, TX, USA (Shiakolas, P.S.) || Dept. of Medicine, Democritus University of Thrace, Alexandroupolis, Greece (Seimenis, I.) |
| Abstract | The development and initial testing of a prototype concentric tube robot suitable for surgical applications is presented. The system is endowed with 3 degrees-of-freedom and consists of a three concentric tubes assembly and an actuation module. Design issues are discussed in a general context of concentric tube robots in view of their potential applications in surgery. Among the distinct features of the system is that the actuation module provides a mechanical decoupling between the available motions that effectively facilitates control of the device. Such robotic systems are considered particularly suitable for MR- guided interventions and compatibility issues with the specific imaging modality are discussed. Initial experimental testing of the device is presented which involved tip targeting and steering trials using direct visual feedback for guidance. |
| Starting Page | 227 |
| Ending Page | 232 |
| File Size | 432176 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467343572 |
| e-ISBN | 9781467343589 |
| DOI | 10.1109/BIBE.2012.6399679 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2012-11-11 |
| Publisher Place | Cyprus |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Electron tubes Robots Prototypes Kinematics Surgery Imaging Manuals image-guided interventions Concentric tube robots medical robotics |
| Content Type | Text |
| Resource Type | Article |
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