TY - GEN
T1 - Continuum robots for multi-scale motion
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
AU - Del Giudice, Giuseppe
AU - Wang, Long
AU - Shen, Jin Hui
AU - Joos, Karen
AU - Simaan, Nabil
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - Existing robots for multi-scale motion (MSM) are unsuitable for micro-surgery in deep surgical sites where miniaturization and traversal of often tortuous anatomical passageways is required. Also, new emerging surgical paradigms for natural orifice surgery and image-based diagnosis and guidance at the micro-scale level promise to provide accurate verification of tumor resection margins. To overcome the limitations of current robot architectures, and to enable image-based biopsy and micro-surgery in confined spaces, we present a new concept of continuum robots with equilibrium modulation (CREM). CREM robots are a modification of multi-backbone continuum robots that achieve micro-motion by using indirect actuation through modulation of their static equilibrium by change of the distribution of their cross-sectional flexural rigidity. As a first step towards modeling the micro-scale kinematics of these robots, solutions for micro-motion tracking are presented and verified to achieve tracking accuracies of better than 2μm. Preliminary evaluation of the micro-motion capabilities of a first prototype demonstrates motion resolutions at 1μm level and hysteresis of less than 10μm - despite the use of inexpensive actuators with significant backlash. Finally, a demonstration of a first effort at integrating such a robot with a custom-made optical coherence tomography (OCT) probe is presented.
AB - Existing robots for multi-scale motion (MSM) are unsuitable for micro-surgery in deep surgical sites where miniaturization and traversal of often tortuous anatomical passageways is required. Also, new emerging surgical paradigms for natural orifice surgery and image-based diagnosis and guidance at the micro-scale level promise to provide accurate verification of tumor resection margins. To overcome the limitations of current robot architectures, and to enable image-based biopsy and micro-surgery in confined spaces, we present a new concept of continuum robots with equilibrium modulation (CREM). CREM robots are a modification of multi-backbone continuum robots that achieve micro-motion by using indirect actuation through modulation of their static equilibrium by change of the distribution of their cross-sectional flexural rigidity. As a first step towards modeling the micro-scale kinematics of these robots, solutions for micro-motion tracking are presented and verified to achieve tracking accuracies of better than 2μm. Preliminary evaluation of the micro-motion capabilities of a first prototype demonstrates motion resolutions at 1μm level and hysteresis of less than 10μm - despite the use of inexpensive actuators with significant backlash. Finally, a demonstration of a first effort at integrating such a robot with a custom-made optical coherence tomography (OCT) probe is presented.
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U2 - 10.1109/IROS.2017.8206074
DO - 10.1109/IROS.2017.8206074
M3 - Conference contribution
AN - SCOPUS:85041947350
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2537
EP - 2542
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
Y2 - 24 September 2017 through 28 September 2017
ER -