NDLI: Robotic neuro-emdoscope with concentric tube augmentation

Content Provider	IEEE Xplore Digital Library
Author	Butler, E.J. Hammond-Oakley, R. Chawarski, S. Gosline, A.H. Codd, P. Anor, T. Madsen, J.R. Dupont, P.E. Lock, J.
Copyright Year	2012
Description	Author affiliation: Neurosurgery, Children's Hospital Boston, Harvard Medical School, MA 02115 USA (Codd, P.; Anor, T.; Madsen, J.R.) \|\| Sterling Point Research LLC, Winchester MA 01890 USA (Butler, E.J.; Hammond-Oakley, R.; Chawarski, S.; Lock, J.) \|\| Cardiovascular Surgery, Children's Hospital Boston, Harvard Medical School, MA 02115 USA (Gosline, A.H.; Dupont, P.E.)
Abstract	Surgical robots are gaining favor in part due to their capacity to reach remote locations within the body. Continuum robots are especially well suited for accessing deep spaces such as cerebral ventricles within the brain. Due to the entry point constraints and complicated structure, current techniques do not allow surgeons to access the full volume of the ventricles. The ability to access the ventricles with a dexterous robot would have significant clinical implications. This paper presents a concentric tube manipulator mated to a robotically controlled flexible endoscope. The device adds three degrees of freedom to the standard neuroendoscope and roboticizes the entire package allowing the operator to conveniently manipulate the device. To demonstrate the improved functionality, we use an in-silica virtual model as well as an ex-vivo anatomic model of a patient with a treatable form of hydrocephalus. In these experiments we demonstrate that the augmented and roboticized endoscope can efficiently reach critical regions that a manual scope cannot.
Starting Page	2941
Ending Page	2946
File Size	667833
Page Count	6
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6386022
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Endoscopes Electron tubes Wires Manipulators Surgery Actuators
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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