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.
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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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