Skip to main page content
U.S. flag

An official website of the United States government

Dot gov

The .gov means it’s official.
Federal government websites often end in .gov or .mil. Before sharing sensitive information, make sure you’re on a federal government site.

Https

The site is secure.
The https:// ensures that you are connecting to the official website and that any information you provide is encrypted and transmitted securely.

Access keys NCBI Homepage MyNCBI Homepage Main Content Main Navigation
. 2020 Apr;16(2):e2072.
doi: 10.1002/rcs.2072. Epub 2020 Feb 3.

Positioning and stiffening of an articulated/continuum manipulator for implant delivery in minimally invasive surgery

Izadyar Tamadon  1 , Yu Huan  1   2 , Antonius G de Groot  3 , Arianna Menciassi  1 , Edoardo Sinibaldi  2
Affiliations

Positioning and stiffening of an articulated/continuum manipulator for implant delivery in minimally invasive surgery

Izadyar Tamadon et al. Int J Med Robot. 2020 Apr.

Abstract

Background: Hollow, bendable manipulators can advance implant delivery in minimally invasive surgery, by circumventing the drawbacks of straight-line delivery and fostering single-port approaches. Variable stiffness manipulators are sought to be safe and effective.

Methods: We designed and experimentally assessed a cable-driven articulated/continuum manipulator, devised for cardiac valve delivery. Positioning and stiffening were teleoperated, based on cable shortening. Stiffening was parameterized by using the leading tension (LT, ie, tension of the cables driving bending). We assessed positioning (repeatability/reversibility along eight/two bending directions) and stiffening (eight bent configurations).

Results: We achieved good repeatability and reversibility (mean errors <1% and 1.5%, respectively, of the workspace characteristic length). Stiffening was effective (up to 9-fold increase, depending on pose). Stiffening was linearly correlated (R2 = 0.92) with LT for all the considered configurations.

Conclusion: We accurately positioned and effectively stiffened the manipulator in several bent configurations. The proposed stiffness modulation strategy can be extended to other manipulators.

PubMed Disclaimer

References

REFERENCES

    1. Simaan N, Yasin RM, Wang L. Medical technologies and challenges of robot-assisted minimally invasive intervention and diagnostics. Annu Rev Control Robot Auton Syst. 2018;1(1):465-490.
    1. Rosen J, Sekhar LN, Glozman D, et al. Roboscope: a flexible and bendable surgical robot for single portal minimally invasive surgery. In: 2017 IEEE International Conference on Robotics and Automation (ICRA) IEEE; 2017:2364-2370.
    1. Berthet-Rayne P, Gras G, Leibrandt K, et al. The i2Snake robotic platform for endoscopic surgery. Ann Biomed Eng. 2018;46(10):1663-1675.
    1. Seung S, Liu P, Park S, Park J-O, Ko SY. Single-port robotic manipulator system for brain tumor removal surgery: SiromanS. Mechatronics. 2015;26:16-28.
    1. Burgner-Kahrs J, Rucker DC, Choset H. Continuum robots for medical applications: a survey. IEEE Trans Robot. 2015;31(6):1261-1280.

MeSH terms

LinkOut - more resources