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Frontiers of Engineering Reports on Leading-Edge Engineering from the 2014 Symposium (2015) / Chapter Skim
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Personalized Medical Robots--Allison M. Okamura and Tania K. Morimoto
Pages 15-20

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From page 15...
... Based on this path, a unique robotic steerable needle or catheter design will achieve the most minimally invasive trajectory possible, thus increasing accuracy, minimizing trauma, and ideally decreasing recovery time and chance of infection. This capacity is particularly useful in addressing the needs of specialized patient groups, includ 15
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From page 16...
... As the curved tubes are inserted and rotated with respect to each other, they interact such that their common axis conforms to some combined curvature, causing the overall shape of the robot to change. Because concentric tube robots derive bending actuation from the elastic energy stored in the backbone, they do not require reaction forces to bend and can be used in free space.
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From page 17...
... The nondisposable base of the robot can consist of modular units. In the case of a modular concentric tube robot design, a single module includes two motors that allow a tube to be both inserted and rotated with respect to the tubes around it (Figure 2)
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From page 18...
... CONTROL OF PERSONALIZED MEDICAL ROBOTS Surgical robots that go deep into the body require a combination of lowlevel autonomous control and high-level human control. Human teleoperation directs the robot tip motions and treatments, while the underlying control system achieves the necessary robot configuration to minimize invasiveness.
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From page 19...
... In Proceed ings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, China.
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