Design and control of a compact modular robot for transbronchial lung biopsy

Stephanie Amack; Margaret Rox; Jason Mitchell; Tayfun Efe Ertop; Maxwell Emerson; Alan Kuntz; Fabien Maldonado; Jason Akulian; Joshua Gafford; Ron Alterovitz; Robert J. Webster III

doi:10.1117/12.2513967

8 March 2019 Design and control of a compact modular robot for transbronchial lung biopsy

Stephanie Amack, Margaret Rox, Jason Mitchell, Tayfun Efe Ertop, Maxwell Emerson, Alan Kuntz, Fabien Maldonado, Jason Akulian, Joshua Gafford, Ron Alterovitz, Robert J. Webster III

Author Affiliations +

Proceedings Volume 10951, Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling; 109510I (2019) https://doi.org/10.1117/12.2513967
Event: SPIE Medical Imaging, 2019, San Diego, California, United States

Abstract

Concentric tube and steerable needle robots provide minimally invasive access to confined or remote spaces in the human body. While the modeling and control of these devices has received a great deal of attention in the robotics literature, comparatively less attention has been paid to date to the design of the mechatronic system that grasps the tubes/needles at their bases and applies axial twists and telescopic motions to component tubes, which we refer to as an actuation unit. Toward moving these systems to clinical use, this paper explores the design of a new, compact modular robotic actuation unit that incorporates new approaches to homing and tool changes. In particular, we accomplish homing using sensors that require no moving wires, eliminating potential failure points on the robot. We also present a new quick-connect mechanism that enables a collection of tubes to be rapidly coupled to or decoupled from the robot. This paper describes our new actuation unit design, illustrating our new tube coupling and homing concepts.

Conference Presentation

Citation Download Citation

Stephanie Amack, Margaret Rox, Jason Mitchell, Tayfun Efe Ertop, Maxwell Emerson, Alan Kuntz, Fabien Maldonado, Jason Akulian, Joshua Gafford, Ron Alterovitz, and Robert J. Webster III "Design and control of a compact modular robot for transbronchial lung biopsy", Proc. SPIE 10951, Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling, 109510I (8 March 2019); https://doi.org/10.1117/12.2513967

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available