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Design and Modeling of a Sub-2 mm Steerable Neuroendoscopic Grasping Tool.
Brumfiel, Timothy A; Qi, Ronghuai; Chapman, Coley; Rashid, Asif; Melkote, Shreyes N; Chern, Joshua J; Desai, Jaydev P.
Afiliación
  • Brumfiel TA; Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA30332 USA.
  • Qi R; Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA30332 USA.
  • Chapman C; George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA30332 USA.
  • Rashid A; George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA30332 USA.
  • Melkote SN; George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA30332 USA.
  • Chern JJ; Children's Healthcare of Atlanta, Atlanta, GA 30341 USA.
  • Desai JP; Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA30332 USA.
IEEE Trans Med Robot Bionics ; 5(4): 1105-1109, 2023 Nov.
Article en En | MEDLINE | ID: mdl-38912526
ABSTRACT
Minimally invasive procedures, such as endoscopic third ventriculostomy (ETV), benefit from the increased dexterity and safety that surgical continuum robots can bring. However, due to their natural compliance, new compatible end-effectors, such as graspers or scissors, must be developed and their actuation must be considered when developing the robotic structures in which they are housed due to the inherent coupling that will be introduced. In this paper, we integrate a tendon-driven meso-scale grasper, with a closed configuration diameter of 1.69 mm, into a 2 degree-of-freedom (DoF) tendon-driven neurosurgical robot with an outer diameter of less than 2 mm. Furthermore, the kinematics of the grasper is validated and an analysis of the coupling between the grasper and the robotic joints is conducted in order to evaluate the design performance.
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Idioma: En Revista: IEEE Trans Med Robot Bionics Año: 2023 Tipo del documento: Article Pais de publicación: Estados Unidos
Texto completo
Añadir a Mi BVS
Imprimir
XML
PubMed Links
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Idioma: En Revista: IEEE Trans Med Robot Bionics Año: 2023 Tipo del documento: Article Pais de publicación: Estados Unidos