SIA OpenIR  > 机器人学研究室
Development of a snake-like dexterous manipulator for skull base surgery
Suat Coemert; Gao AZ(高安柱); John P. Carey; Mattias F. Traeger; Russell H. Taylor; Tim C. Lueth; Mehran Armand
作者部门机器人学研究室
会议名称2016 IEEE 38th Annual International Conference of the Engineering in Medicine and Biology Society (EMBC)
会议日期Augest 16-20, 2016
会议地点Orlando, FL, USA
会议录名称2016 IEEE 38th Annual International Conference of the Engineering in Medicine and Biology Society (EMBC)
出版者IEEE
出版地New York
2016
页码5087-5090
收录类别EI ; CPCI(ISTP)
EI收录号20170303247303
WOS记录号WOS:000399823505107
产权排序2
ISSN号1558-4615
ISBN号978-1-4577-0219-8
摘要Petrous apex lesions constitute considerable surgical challenges due to their location in the skull base and close relationship with critical structures such as inner ear, carotid arteries, facial nerves and jugular bulb. These lesions often cannot be treated completely with rigid tools due to the limited accessibility. We are aiming to develop a snake-like manipulator to assist surgeons with the infralabyrinthine treatment of petrous apex lesions with increased dexterity. This snake-like dexterous manipulator (SDM) with 3.3 mm outer diameter and 40 mm working length was designed including a tool channel with a diameter of 1.8 mm and an endoscope channel with a diameter of 0.7 mm. The SDM can be actuated in one plane and two directions enabling the C- and S-shaped bends and rotated around its longitudinal axis. The constant curvature modeling was implemented to predict the deflection in one direction. Experiments were carried out with optical microscope to find out different bending modes. Experimental bending modes were in a good agreement with the theoretical ones in terms of the bending behavior. However tip position prediction showed discrepancies up to 1 mm in X and 2 mm in Z axes.
语种英语
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19552
专题机器人学研究室
通讯作者Suat Coemert
作者单位1.Institute of Micro Technology and Medical Device Technology (MIMED), Technische Universitaet Muenchen, Garching, 85748, Germany
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.Department of Otolaryngology - Head and Neck Surgery, Johns Hopkins University School of Medicine, 21287, Baltimore, MD, United States
4.Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, 21218, United States
推荐引用方式
GB/T 7714
Suat Coemert,Gao AZ,John P. Carey,et al. Development of a snake-like dexterous manipulator for skull base surgery[C]. New York:IEEE,2016:5087-5090.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Development of a sna(930KB)会议论文 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Suat Coemert]的文章
[Gao AZ(高安柱)]的文章
[John P. Carey]的文章
百度学术
百度学术中相似的文章
[Suat Coemert]的文章
[Gao AZ(高安柱)]的文章
[John P. Carey]的文章
必应学术
必应学术中相似的文章
[Suat Coemert]的文章
[Gao AZ(高安柱)]的文章
[John P. Carey]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Development of a snake-like dexterous manipulator for skull base surgery.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。