NDLI: Toward Active Cannulas: Miniature Snake-Like Surgical Robots

Content Provider	IEEE Xplore Digital Library
Author	Webster, R.J. Okamura, A.M. Cowan, N.J.
Copyright Year	2006
Description	Author affiliation: Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD (Webster, R.J.; Okamura, A.M.; Cowan, N.J.)
Abstract	We have developed a new class of continuously flexible snake-like robots, called active cannulas, that consist of several telescoping pre-curved superelastic tubes. The devices derive bending actuation not from tendon wires or other external mechanisms, but from elastic energy stored in the backbone itself. This allows active cannulas to have a small diameter and a high degree of dexterity, which should enable them to navigate through complex anatomy to sites inaccessible by current surgical robotic devices. Active cannulas may also enhance patient safety because their inherent compliance mitigates potential trauma from inadvertent tool-tissue collision. A consequence of our design is that dexterity improves with miniaturization. A kinematic description of active cannula shape requires a model of the elastic interaction of telescoping pre-curved flexible tubes, and we derive a two-link beam mechanics-based model. Experiments using curved nitinol tubes and wires validate the model
Starting Page	2857
Ending Page	2863
File Size	981865
Page Count	7
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282073
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Medical robotics Robots Wires Tendons Spine Navigation Anatomy Surgery Safety Collision mitigation
Content Type	Text
Resource Type	Article

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