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Design and Analysis of a Wire-driven Flexible Manipulator for Bronchoscopic Interventions

Bergeles, C; Liu, N; Yang, G-Z; (2016) Design and Analysis of a Wire-driven Flexible Manipulator for Bronchoscopic Interventions. In: 2016 IEEE International Conference on Robotics and Automation (ICRA). (pp. pp. 4058-4063). IEEE: Stockholm, Sweden. Green open access

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Abstract

Bronchoscopic interventions are widely performed for the diagnosis and treatment of lung diseases. However, for most endobronchial devices, the lack of a bendable tip restricts their access ability to get into distal bronchi with complex bifurcations. This paper presents the design of a new wire-driven continuum manipulator to help guide these devices. The proposed manipulator is built by assembling miniaturized blocks that are featured with interlocking circular joints. It has the capability of maintaining its integrity when the lengths of actuation wires change due to the shaft flex. It allows the existence of a relatively large central cavity to pass through other instruments and enables two rotational degrees of freedom. All these features make it suitable for procedures where tubular anatomies are involved and the flexible shafts have to be considerably bent in usage, just like bronchoscopic interventions. A kinematic model is built to estimate the relationship between the translations of actuation wires and the manipulator tip position. A scale-up model is produced for evaluation experiments and the results validate the performance of the proposed mechanism.

Type: Proceedings paper
Title: Design and Analysis of a Wire-driven Flexible Manipulator for Bronchoscopic Interventions
Event: 2016 IEEE International Conference on Robotics and Automation (ICRA)
Location: Stockholm, Sweden
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/ICRA.2016.7487597
Publisher version: http://dx.doi.org/10.1109/ICRA.2016.7487597
Language: English
Additional information: Copyright © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Keywords: medical robotics
UCL classification: UCL
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/1482187
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