Share Email Print

Proceedings Paper

Design and control of a compact modular robot for transbronchial lung biopsy
Author(s): Stephanie Amack; Margaret Rox; Jason Mitchell; Tayfun Efe Ertop; Maxwell Emerson; Alan Kuntz; Fabien Maldonado; Jason Akulian; Joshua Gafford; Ron Alterovitz; Robert J. Webster III
Format Member Price Non-Member Price
PDF $17.00 $21.00

Paper Abstract

Concentric tube and steerable needle robots provide minimally invasive access to confined or remote spaces in the human body. While the modeling and control of these devices has received a great deal of attention in the robotics literature, comparatively less attention has been paid to date to the design of the mechatronic system that grasps the tubes/needles at their bases and applies axial twists and telescopic motions to component tubes, which we refer to as an actuation unit. Toward moving these systems to clinical use, this paper explores the design of a new, compact modular robotic actuation unit that incorporates new approaches to homing and tool changes. In particular, we accomplish homing using sensors that require no moving wires, eliminating potential failure points on the robot. We also present a new quick-connect mechanism that enables a collection of tubes to be rapidly coupled to or decoupled from the robot. This paper describes our new actuation unit design, illustrating our new tube coupling and homing concepts.

Paper Details

Date Published: 8 March 2019
PDF: 8 pages
Proc. SPIE 10951, Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling, 109510I (8 March 2019); doi: 10.1117/12.2513967
Show Author Affiliations
Stephanie Amack, Vanderbilt Univ. (United States)
Margaret Rox, Vanderbilt Univ. (United States)
Jason Mitchell, Vanderbilt Univ. (United States)
Tayfun Efe Ertop, Vanderbilt Univ. (United States)
Maxwell Emerson, Vanderbilt Univ. (United States)
Alan Kuntz, The Univ. of North Carolina at Chapel Hill (United States)
Fabien Maldonado, Vanderbilt Univ. Medical Ctr. (United States)
Jason Akulian, The Univ. of North Carolina at Chapel Hill (United States)
Joshua Gafford, Vanderbilt Univ. (United States)
Ron Alterovitz, The Univ. of North Carolina at Chapel Hill (United States)
Robert J. Webster III, Vanderbilt Univ. (United States)

Published in SPIE Proceedings Vol. 10951:
Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling
Baowei Fei; Cristian A. Linte, Editor(s)

© SPIE. Terms of Use
Back to Top
Sign in to read the full article
Create a free SPIE account to get access to
premium articles and original research
Forgot your username?