In this paper, we describe the state of art in continuum robot manipulators and systems intended for application to interventional medicine. Inspired by biological trunks, tentacles, snakes, designs can traverse confined spaces, manipulate objects complex environments, conform curvilinear paths space. addition, many offer inherent structural compliance ease miniaturization. After decades pioneering research, a host have now been investigated demonstrated capabilities beyond scope...

Mechanics-based models of concentric tube continuum robots have recently achieved a level sophistication that makes it possible to begin apply these variety real-world clinical scenarios. Endonasal skull base surgery is one such application, where their small diameter and tentacle like dexterity are particularly advantageous. In this paper we provide the medical motivation for an endonasal surgical robot featuring manipulators, describe our model-based design teleoperation methods, as well...

Tendon actuation is one of the most prominent principles for continuum robots. To date, a wide variety modelling approaches has been derived to describe deformations tendon-driven Motivated by need comprehensive overview existing methodologies, this work summarizes and outlines state-of-the-art approaches. In particular, relevant models are classified based on backbone representations kinematic as well static assumptions. Numerical case studies conducted compare performance representative...

Continuum robots are highly miniaturizable, exhibit non-linear shapes with several curves, and flexible compliant. In particular, concentric-tube tendon-driven continuum can be designed on a small scale diameters of below 10 mm. A diameter-to-length ratio enables insertion these through entry points in order to reach hardly accessible regions by avoiding obstacles. This scenario often found minimally invasive surgery technical inspections. However, the target region, deployment along narrow...

In the quest to design higher curvature bevel-steered needles, kinked bevel-tips have been one of most successful approaches yet proposed. However, price be paid for enhancing steerability in this way has increased tissue damage, since prebent tip cuts a local helical path into when axially rotated. This is problematic closed-loop control desired, because controller will typically require needle rotate rapidly, and it particularly duty cycling (i.e., continual spinning) used adjust...

Steerable needles have the potential to improve effectiveness of needle-based clinical procedures such as biopsy and drug delivery by improving targeting accuracy reaching previously inaccessible targets that are behind sensitive or impenetrable anatomical regions. We present a new needle steering system capable automatically in 3-D environments while avoiding obstacles compensating for real-world uncertainties. Given specification target (e.g., from preoperative medical images), our plans...

New approaches to intracerebral hemorrhage management are motivated by its high incidence and 40% mortality rate. Surgery is sometimes attempted decompress the brain, although patient outcomes similar regardless of whether surgery occurs. We hypothesize that surgical decompression not more effective because current open techniques disrupt healthy brain tissue access clot formed hemorrhage, offsetting benefits surgery. To address this, we propose a less invasive needle-based approach in which...

Tendon-driven continuum robots offer increased dexterity and manipulability in comparison to conventional rigid link serial manipulators. Being able conform complex curves 3D space, are particular useful for applications restricted hardly accessible environments. The workspace of a tendon-driven robot depends on the number sections, as well length each section its range bending radii. Common designs have fixed lengths such that deployment along tortuous paths requires additional linear...

Continuum robots actuated by tendons are a widely researched robot design offering high dexterity and large workspaces relative to their volume. Their flexible compliant structure can be easily miniaturized, making them predestined for applications in difficult-to-reach confined spaces. Adaption of this specific includes extensible segments leading an even higher manipulability enabling so-called follow-the-leader motions the manipulator. In letter, kinematic modeling tendon continuum with...

This paper presents a miniature wrist that can be integrated into needle-sized surgical instruments. The consists of nitinol tube with asymmetric cutouts is actuated by single tendon to provide high distal curvature. We derive and experimentally validate kinematic static models for the describe several prototype wrists, illustrating straightforward fabrication scalability design. investigate fatigue life, concept tip-first bending, practical use concentric robot in an endonasal scenario.

Path following and follow-the-leader motion is particularly desirable for minimally-invasive surgery in confined spaces which can only be reached using tortuous paths, e.g. through natural orifices. While path followthe- leader achieved by hyper-redundant snake robots, their size usually not applicable medical applications. Continuum such as tendon-driven or concentric tube mechanisms, fulfill the requirements minimally invasive surgery, but yet inherently provided. In fact, parameters of...

Added to their high dexterity and ability conform complex shapes, continuum robots can be further improved provide safer interaction with environment. Indeed, controlling stiffness is one of the most challenging yet promising research topics. We propose a tubular stiffening sheath as replaceable cover for small-diameter temporarily increase in certain configuration. In this article, we assess compare performances two different modalities: granular layer jamming, arguments material selection...

Recent physics-based models of concentric tube continuum robots are able to describe pose the tip, given preformed translation and rotation in joint space robot. However, such model-based approaches associated with high computational load highly non-linear modeling effort. A data-driven approach for computationally fast estimation kinematics without requiring knowledge uncertainties model would be an asset. This paper introduces solve forward as well inverse 6-DOF three dimensional SE(3)....

We describe transnasal skull base surgery, including the current clinical procedure and ways in which a robotic system has potential to enhance standard of care. The available workspace is characterized by segmenting medical images reconstructing 3D geometry. then thin, ¿tentacle-like¿ tools with shafts constructed from concentric tube robots, an actuation unit designed robotically control them teleoperated setting. Lastly, we discuss results proof-of-concept study cadaveric specimen,...

Concentric tube robots exhibit complex workspaces due to the way their component tubes bend and twist as they interact with one another. This paper explores ways compute characterize workspaces. We use Monte Carlo random samples of robot's joint space a discrete volumetric workspace representation, which can describe both reachability redundancy. Experiments on two physical prototypes are provided illustrate proposed approach.

Concentric tube continuum robots provide an infinite-dimensional design space, consisting of individual space curves and other parameters. Even when choices are made to restrict the a small number discrete parameters, ad hoc selection parameter values achieve coverage desired volume, in presence geometric workspace constraints, is essentially impossible - even for experienced researchers. General algorithms proposed date have focused on reaching set specific points, non-physical...

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In this letter, a novel spatial parallel continuum robot is proposed. It composed of three tendon-actuated robots as kinematic chains that are coupled at common end effector platform by spherical joints. A modular design approach used, allowing the reconfiguration each robot's base position and orientation to adapt overall structure application specific constraints environments. The evaluated in terms its repeatability. Furthermore, comparisons made performance single chains. Overall,...

Tendon-driven parallel continuum robots (PCR) consist of multiple individual continuous kinematic chains, that are actuated in bending utilizing tendons routed along their backbones. This work derives and proposes a Cosserat rod based kinetostatic modeling framework for such structures allows efficiently solving the forward, inverse velocity problems. Using this model, properties as reachable workspace, singularities, manipulability, compliance tendon-driven PCR studied detail. Experiments...

Experiments on physical continuum robot are the gold standard for evaluations. Currently, as no commercial platform is available, a large variety of early-stage prototypes exists. These developed by individual research groups and often used single publication. Thus, significant amount time devoted to creating proprietary hardware software hindering development common platform, shifting away scarce efforts from main challenges. We address this problem proposing an open-source actuation...

Soft-tissue image-guided interventions often require the digitization of organ surfaces for providing correspondence from medical images to physical patient in operating room. In this paper, effect several inexpensive surface acquisition techniques on target registration error and (SRE) soft tissue is investigated. A systematic approach provided compare image-to-physical registrations using three different methods spatial digitization: 1) a tracked laser-range scanner (LRS), 2) pointer, 3)...

Tendon-driven continuum robots possess versatile application capabilities and have a robust design. The actuation of such with non-straight tendons that wrap around the backbone, described by variable function, offers lot untapped potentials. While it has been shown these are able to take up complex shapes using only one actuated segment, merits tendon routing not quantified in terms workspace motion. In this paper, we show additional helically routed can greatly benefit robot's reachable...

Dual-arm continuum robots have been considered mainly for teleoperation, where human perception and cognition permitted coordination, collision-free motions. This letter describes theoretical investigations on automation of dual-arm constituted two concentric tube manipulators. An optimization algorithm is developed in order to improve triangulation ability the robot thus enhance arms' collaborative operation. a priori knowledge provides design directives fulfill integration, reachability,...