Constrained workspace generation for snake-like manipulators with applications to minimally invasive surgery

Ryan J. Murphy, Matthew S. Moses, Michael D M Kutzer, Gregory S. Chirikjian, Mehran Armand

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

Abstract

Osteolysis is a debilitating condition that can occur behind the acetabular component of total hip replacements due to wear of the polyethylene liner. Conventional treatment techniques suggest replacing the component, while less-invasive approaches attempt to access and clean the lesion through the screw holes in the component. However, current rigid tools have been shown to access at most 50% of the lesion. Using a recently developed dexterous manipulator, we have adapted a group-theoretic convolution framework to define the manipulator's workspace and its ability to fully explore a lesion. We compared this with the experimental exploration of a printed model of the lesion. This convolution approach successfully contains the experimental results and shows over 98.8% volumetric coverage of a complex lesion. The results suggest this manipulator as a possible solution to accessing much of the area unreachable to the conventional less-invasive technique.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages5341-5347
Number of pages7
DOIs
StatePublished - 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period5/6/135/10/13

Fingerprint

Surgery
Manipulators
Convolution
Polyethylenes
Wear of materials

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Murphy, R. J., Moses, M. S., Kutzer, M. D. M., Chirikjian, G. S., & Armand, M. (2013). Constrained workspace generation for snake-like manipulators with applications to minimally invasive surgery. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 5341-5347). [6631342] https://doi.org/10.1109/ICRA.2013.6631342

Constrained workspace generation for snake-like manipulators with applications to minimally invasive surgery. / Murphy, Ryan J.; Moses, Matthew S.; Kutzer, Michael D M; Chirikjian, Gregory S.; Armand, Mehran.

Proceedings - IEEE International Conference on Robotics and Automation. 2013. p. 5341-5347 6631342.

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

Murphy, RJ, Moses, MS, Kutzer, MDM, Chirikjian, GS & Armand, M 2013, Constrained workspace generation for snake-like manipulators with applications to minimally invasive surgery. in Proceedings - IEEE International Conference on Robotics and Automation., 6631342, pp. 5341-5347, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 5/6/13. https://doi.org/10.1109/ICRA.2013.6631342
Murphy RJ, Moses MS, Kutzer MDM, Chirikjian GS, Armand M. Constrained workspace generation for snake-like manipulators with applications to minimally invasive surgery. In Proceedings - IEEE International Conference on Robotics and Automation. 2013. p. 5341-5347. 6631342 https://doi.org/10.1109/ICRA.2013.6631342
Murphy, Ryan J. ; Moses, Matthew S. ; Kutzer, Michael D M ; Chirikjian, Gregory S. ; Armand, Mehran. / Constrained workspace generation for snake-like manipulators with applications to minimally invasive surgery. Proceedings - IEEE International Conference on Robotics and Automation. 2013. pp. 5341-5347
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