Development and initial testing of a prototype concentric tube robot for surgical interventions

Costas Sophocleous; Eftychios G. Christoforou; Panayiotis S. Shiakolas; Ioannis Seimenis; Nikolaos V. Tsekos; Charalambos C. Doumanidis

doi:10.1109/BIBE.2012.6399679

Development and initial testing of a prototype concentric tube robot for surgical interventions

Costas Sophocleous, Eftychios G. Christoforou, Panayiotis S. Shiakolas, Ioannis Seimenis, Nikolaos V. Tsekos, Charalambos C. Doumanidis

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Scopus citations

Abstract

The development and initial testing of a prototype concentric tube robot suitable for surgical applications is presented. The system is endowed with 3 degrees-of-freedom and consists of a three concentric tubes assembly and an actuation module. Design issues are discussed in a general context of concentric tube robots in view of their potential applications in surgery. Among the distinct features of the system is that the actuation module provides a mechanical decoupling between the available motions that effectively facilitates control of the device. Such robotic systems are considered particularly suitable for MR- guided interventions and compatibility issues with the specific imaging modality are discussed. Initial experimental testing of the device is presented which involved tip targeting and steering trials using direct visual feedback for guidance.

Original language	English (US)
Title of host publication	IEEE 12th International Conference on BioInformatics and BioEngineering, BIBE 2012
Pages	227-232
Number of pages	6
DOIs	https://doi.org/10.1109/BIBE.2012.6399679
State	Published - 2012
Event	12th IEEE International Conference on BioInformatics and BioEngineering, BIBE 2012 - Larnaca, Cyprus Duration: Nov 11 2012 → Nov 13 2012

Publication series

Name	IEEE 12th International Conference on BioInformatics and BioEngineering, BIBE 2012

Other

Other	12th IEEE International Conference on BioInformatics and BioEngineering, BIBE 2012
Country/Territory	Cyprus
City	Larnaca
Period	11/11/12 → 11/13/12

Keywords

Concentric tube robots
image-guided interventions
medical robotics

ASJC Scopus subject areas

Bioengineering
Biomedical Engineering

Access to Document

10.1109/BIBE.2012.6399679

Cite this

Sophocleous, C., Christoforou, E. G., Shiakolas, P. S., Seimenis, I., Tsekos, N. V., & Doumanidis, C. C. (2012). Development and initial testing of a prototype concentric tube robot for surgical interventions. In IEEE 12th International Conference on BioInformatics and BioEngineering, BIBE 2012 (pp. 227-232). Article 6399679 (IEEE 12th International Conference on BioInformatics and BioEngineering, BIBE 2012). https://doi.org/10.1109/BIBE.2012.6399679

Development and initial testing of a prototype concentric tube robot for surgical interventions. / Sophocleous, Costas; Christoforou, Eftychios G.; Shiakolas, Panayiotis S. et al.
IEEE 12th International Conference on BioInformatics and BioEngineering, BIBE 2012. 2012. p. 227-232 6399679 (IEEE 12th International Conference on BioInformatics and BioEngineering, BIBE 2012).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sophocleous, C, Christoforou, EG, Shiakolas, PS, Seimenis, I, Tsekos, NV & Doumanidis, CC 2012, Development and initial testing of a prototype concentric tube robot for surgical interventions. in IEEE 12th International Conference on BioInformatics and BioEngineering, BIBE 2012., 6399679, IEEE 12th International Conference on BioInformatics and BioEngineering, BIBE 2012, pp. 227-232, 12th IEEE International Conference on BioInformatics and BioEngineering, BIBE 2012, Larnaca, Cyprus, 11/11/12. https://doi.org/10.1109/BIBE.2012.6399679

Sophocleous C, Christoforou EG, Shiakolas PS, Seimenis I, Tsekos NV, Doumanidis CC. Development and initial testing of a prototype concentric tube robot for surgical interventions. In IEEE 12th International Conference on BioInformatics and BioEngineering, BIBE 2012. 2012. p. 227-232. 6399679. (IEEE 12th International Conference on BioInformatics and BioEngineering, BIBE 2012). doi: 10.1109/BIBE.2012.6399679

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abstract = "The development and initial testing of a prototype concentric tube robot suitable for surgical applications is presented. The system is endowed with 3 degrees-of-freedom and consists of a three concentric tubes assembly and an actuation module. Design issues are discussed in a general context of concentric tube robots in view of their potential applications in surgery. Among the distinct features of the system is that the actuation module provides a mechanical decoupling between the available motions that effectively facilitates control of the device. Such robotic systems are considered particularly suitable for MR- guided interventions and compatibility issues with the specific imaging modality are discussed. Initial experimental testing of the device is presented which involved tip targeting and steering trials using direct visual feedback for guidance.",

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Development and initial testing of a prototype concentric tube robot for surgical interventions

Abstract

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Keywords

ASJC Scopus subject areas

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