Webster et al., 2008 - Google Patents
Kinematics and calibration of active cannulasWebster et al., 2008
View PDF- Document ID
- 11927811743668588009
- Author
- Webster R
- Romano J
- Cowan N
- Publication year
- Publication venue
- 2008 IEEE International Conference on Robotics and Automation
External Links
Snippet
Active cannulas are remotely actuated thin continuum robots with the potential to traverse narrow and winding environments without relying on" guiding" environmental reaction forces. These features seem ideal for procedures requiring passage through narrow …
- 241001631457 Cannula 0 title abstract description 23
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00331—Steering mechanisms with preformed bends
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Webster et al. | Kinematics and calibration of active cannulas | |
| Webster et al. | Mechanics of precurved-tube continuum robots | |
| Webster et al. | Toward active cannulas: Miniature snake-like surgical robots | |
| Webster III et al. | Design and kinematic modeling of constant curvature continuum robots: A review | |
| Simaan et al. | Design and integration of a telerobotic system for minimally invasive surgery of the throat | |
| Roesthuis et al. | Steering of multisegment continuum manipulators using rigid-link modeling and FBG-based shape sensing | |
| Xu et al. | An investigation of the intrinsic force sensing capabilities of continuum robots | |
| Ganji et al. | Catheter kinematics for intracardiac navigation | |
| Kapoor et al. | Suturing in confined spaces: constrained motion control of a hybrid 8-DoF robot | |
| Xu et al. | Actuation compensation for flexible surgical snake-like robots with redundant remote actuation | |
| Gu et al. | A compliant transoral surgical robotic system based on a parallel flexible mechanism | |
| CN109452930A (en) | For using the registration arrangement and method of the Medical Devices of the search space of reduction | |
| Dupont et al. | Torsional kinematic model for concentric tube robots | |
| CN108542499A (en) | Deformation-compensated system and method for using shape to sense | |
| Loschak et al. | Automated pointing of cardiac imaging catheters | |
| Ji et al. | Wire-driven flexible manipulator with constrained spherical joints for minimally invasive surgery | |
| Boushaki et al. | Task-space position control of concentric-tube robot with inaccurate kinematics using approximate Jacobian | |
| Wang et al. | Hybrid-structure hand-held robotic endoscope for sinus surgery with enhanced distal dexterity | |
| CN118662238A (en) | Control method for operating arm and surgical robot system | |
| Barnes et al. | Toward a novel soft robotic system for minimally invasive interventions | |
| Roshanfar et al. | Toward autonomous cardiac catheterization through a parametric finite element simulation with experimental validation | |
| Li et al. | Development of a 7-DoF haptic operator interface based on redundantly actuated parallel mechanism | |
| Huang et al. | Toward bionic arthroscopy: a comprehensive perspective of continuum robotics principles and prototypes for the inception of arthroscopic surgery robots | |
| Zhang et al. | A Hybrid Continuum Manipulator for Minimally Invasive Surgery: Design, Modeling, and Validation | |
| US20230063977A1 (en) | Transcatheter soft robot |