Analysis of a concentric-tube robot design and feasibility for endoscopic deployment

Ryan Ponten, Caroline B. Black, Andrew Russ, D. Caleb Rucker

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

An intraluminal endoscopic approach is desirable for most colonoscopic procedures and is growing in favor for other surgeries as tools are enhanced. Flexible robotic manipulators could further enhance the dexterity and precision of commercial endoscopic systems. In this paper, we explore the capabilities of concentric tube robots to work as tool manipulators at the tip of a colonoscope to perform endoscopic submucousal dissection (ESD) and endoscopic full thickness resection (EFTR). We provide an overview of the kinematic modeling of these manipulators, a design of a prototype manipulator and the transmission actuation system. Our analysis examines the workspace and stiffness of these manipulators being controlled at the tip of a colonoscope. We compare the results to reported surgical requirements and propose solutions for enhancing their effectiveness including notching tubes with a larger Young's Modulus. We also determine the resolution and accuracy of the actuation system.

Original languageEnglish (US)
Title of host publicationMedical Imaging 2017
Subtitle of host publicationImage-Guided Procedures, Robotic Interventions, and Modeling
EditorsRobert J. Webster, Baowei Fei
PublisherSPIE
ISBN (Electronic)9781510607156
DOIs
StatePublished - Jan 1 2017
EventMedical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling - Orlando, United States
Duration: Feb 14 2017Feb 16 2017

Publication series

NameProgress in Biomedical Optics and Imaging - Proceedings of SPIE
Volume10135
ISSN (Print)1605-7422

Other

OtherMedical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling
CountryUnited States
CityOrlando
Period2/14/172/16/17

Fingerprint

Colonoscopes
robots
Manipulators
manipulators
Robots
tubes
Elastic Modulus
Robotics
Biomechanical Phenomena
Dissection
actuation
dissection
robotics
surgery
Surgery
stiffness
modulus of elasticity
Kinematics
kinematics
Elastic moduli

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Atomic and Molecular Physics, and Optics
  • Biomaterials
  • Radiology Nuclear Medicine and imaging

Cite this

Ponten, R., Black, C. B., Russ, A., & Rucker, D. C. (2017). Analysis of a concentric-tube robot design and feasibility for endoscopic deployment. In R. J. Webster, & B. Fei (Eds.), Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling [1013514] (Progress in Biomedical Optics and Imaging - Proceedings of SPIE; Vol. 10135). SPIE. https://doi.org/10.1117/12.2254892

Analysis of a concentric-tube robot design and feasibility for endoscopic deployment. / Ponten, Ryan; Black, Caroline B.; Russ, Andrew; Rucker, D. Caleb.

Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling. ed. / Robert J. Webster; Baowei Fei. SPIE, 2017. 1013514 (Progress in Biomedical Optics and Imaging - Proceedings of SPIE; Vol. 10135).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ponten, R, Black, CB, Russ, A & Rucker, DC 2017, Analysis of a concentric-tube robot design and feasibility for endoscopic deployment. in RJ Webster & B Fei (eds), Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling., 1013514, Progress in Biomedical Optics and Imaging - Proceedings of SPIE, vol. 10135, SPIE, Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling, Orlando, United States, 2/14/17. https://doi.org/10.1117/12.2254892
Ponten R, Black CB, Russ A, Rucker DC. Analysis of a concentric-tube robot design and feasibility for endoscopic deployment. In Webster RJ, Fei B, editors, Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling. SPIE. 2017. 1013514. (Progress in Biomedical Optics and Imaging - Proceedings of SPIE). https://doi.org/10.1117/12.2254892
Ponten, Ryan ; Black, Caroline B. ; Russ, Andrew ; Rucker, D. Caleb. / Analysis of a concentric-tube robot design and feasibility for endoscopic deployment. Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling. editor / Robert J. Webster ; Baowei Fei. SPIE, 2017. (Progress in Biomedical Optics and Imaging - Proceedings of SPIE).
@inproceedings{808ff4fc37eb41b29682ebb66c6600d2,
title = "Analysis of a concentric-tube robot design and feasibility for endoscopic deployment",
abstract = "An intraluminal endoscopic approach is desirable for most colonoscopic procedures and is growing in favor for other surgeries as tools are enhanced. Flexible robotic manipulators could further enhance the dexterity and precision of commercial endoscopic systems. In this paper, we explore the capabilities of concentric tube robots to work as tool manipulators at the tip of a colonoscope to perform endoscopic submucousal dissection (ESD) and endoscopic full thickness resection (EFTR). We provide an overview of the kinematic modeling of these manipulators, a design of a prototype manipulator and the transmission actuation system. Our analysis examines the workspace and stiffness of these manipulators being controlled at the tip of a colonoscope. We compare the results to reported surgical requirements and propose solutions for enhancing their effectiveness including notching tubes with a larger Young's Modulus. We also determine the resolution and accuracy of the actuation system.",
author = "Ryan Ponten and Black, {Caroline B.} and Andrew Russ and Rucker, {D. Caleb}",
year = "2017",
month = "1",
day = "1",
doi = "10.1117/12.2254892",
language = "English (US)",
series = "Progress in Biomedical Optics and Imaging - Proceedings of SPIE",
publisher = "SPIE",
editor = "Webster, {Robert J.} and Baowei Fei",
booktitle = "Medical Imaging 2017",
address = "United States",

}

TY - GEN

T1 - Analysis of a concentric-tube robot design and feasibility for endoscopic deployment

AU - Ponten, Ryan

AU - Black, Caroline B.

AU - Russ, Andrew

AU - Rucker, D. Caleb

PY - 2017/1/1

Y1 - 2017/1/1

N2 - An intraluminal endoscopic approach is desirable for most colonoscopic procedures and is growing in favor for other surgeries as tools are enhanced. Flexible robotic manipulators could further enhance the dexterity and precision of commercial endoscopic systems. In this paper, we explore the capabilities of concentric tube robots to work as tool manipulators at the tip of a colonoscope to perform endoscopic submucousal dissection (ESD) and endoscopic full thickness resection (EFTR). We provide an overview of the kinematic modeling of these manipulators, a design of a prototype manipulator and the transmission actuation system. Our analysis examines the workspace and stiffness of these manipulators being controlled at the tip of a colonoscope. We compare the results to reported surgical requirements and propose solutions for enhancing their effectiveness including notching tubes with a larger Young's Modulus. We also determine the resolution and accuracy of the actuation system.

AB - An intraluminal endoscopic approach is desirable for most colonoscopic procedures and is growing in favor for other surgeries as tools are enhanced. Flexible robotic manipulators could further enhance the dexterity and precision of commercial endoscopic systems. In this paper, we explore the capabilities of concentric tube robots to work as tool manipulators at the tip of a colonoscope to perform endoscopic submucousal dissection (ESD) and endoscopic full thickness resection (EFTR). We provide an overview of the kinematic modeling of these manipulators, a design of a prototype manipulator and the transmission actuation system. Our analysis examines the workspace and stiffness of these manipulators being controlled at the tip of a colonoscope. We compare the results to reported surgical requirements and propose solutions for enhancing their effectiveness including notching tubes with a larger Young's Modulus. We also determine the resolution and accuracy of the actuation system.

UR - http://www.scopus.com/inward/record.url?scp=85020463173&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85020463173&partnerID=8YFLogxK

U2 - 10.1117/12.2254892

DO - 10.1117/12.2254892

M3 - Conference contribution

T3 - Progress in Biomedical Optics and Imaging - Proceedings of SPIE

BT - Medical Imaging 2017

A2 - Webster, Robert J.

A2 - Fei, Baowei

PB - SPIE

ER -