Concentric tube robot design and optimization based on task and anatomical constraints
- Submitting institution
-
King's College London
- Unit of assessment
- 12 - Engineering
- Output identifier
- 101828344
- Type
- D - Journal article
- DOI
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10.1109/TRO.2014.2378431
- Title of journal
- IEEE TRANSACTIONS ON ROBOTICS
- Article number
- -
- First page
- 67
- Volume
- 31
- Issue
- 1
- ISSN
- 1552-3098
- Open access status
- Out of scope for open access requirements
- Month of publication
- February
- Year of publication
- 2015
- URL
-
-
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
-
5
- Research group(s)
-
-
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- Concentric tube robots (CTR) are snake-like robots that can navigate tortuous anatomy to reach deeply-seated pathologies. This paper proposed the now most cited algorithm for patient- and surgery- specific CTR design. It was the first paper that considered all challenges in the mechanics of those robots, including instabilities and torsion. The algorithm designed a robot for transjugular heart access, and brain surgery. The transjugular robot design conformed with manual designs evaluated in animal experiments. The algorithm was subsequently used to design an autonomously navigated transapical-access CTR that was evaluated on animals and published in Science Robotics (http://doi.org/10.1126/scirobotics.aaw1977).
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -