continuum robot

Technical Validation of Multi-Section Robotic Bronchoscope with First Person View Control for Transbronchial Biopsies of Peripheral Lung

Author(s): Fumitaro Masaki, Franklin King, Takahisa Kato, Hisashi Tsukada, Yolonda Lorig Colson, Nobuhiko Hata
Technical Validation of Multi-Section Robotic Bronchoscope with First Person View Control for Transbronchial Biopsies of Peripheral Lung 169 177 IEEE Transactions on Biomedical Engineering (TBME)
This study aims to validate the advantage of new engineering method to maneuver multi-section robotic bronchoscope with first person view control in transbronchial biopsy. Six physician operators with different skill levels in manual bronchoscopy were recruited and tasked to operate a manual and a robotic bronchoscope with a gamepad to the peripheral area placed in patient-derived lung phantoms. The use of the robotic bronchoscope via a gamepad showed statistically less physical demands and the ability to reach the 5th generation of the airway regardless of the experience in manual bronchoscopy. read more

Continuum Robot with Follow the Leader Motion for Endoscopic Third Ventriculostomy and Tumor Biopsy

Author(s): Takahisa Kato, Yuanqian Gao, Kiyoshi Takagi, Naoyuki Shono, Nobuhiko Hata
Continuum Robot with Follow the Leader Motion for Endoscopic Third Ventriculostomy and Tumor Biopsy 155 149 IEEE Transactions on Biomedical Engineering (TBME)

In a combined endoscopic third ventriculostomy (ETV) and endoscopic tumor biopsy (ETB) procedure, an optimal tool trajectory is mandatory to minimize trauma to surrounding cerebral tissue. Ideally, methods for performing…

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Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey

Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey

Author(s): Chaoyang Shi, Xiongbiao Luo, Peng Qi, Tianliang Li, Shuang Song, Zoran Najdovski, Toshio Fukuda, Hongliang Ren
Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey 170 177 IEEE Transactions on Biomedical Engineering (TBME)

Continuum robots provide inherent structural compliance with high dexterity to access the surgical target sites along tortuous anatomical paths under constrained environments, and enable to perform complex and delicate operations…

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