Design of a new cable-driven manipulator with a large open lumen: Preliminary applications in the minimally-invasive removal of osteolysis

Michael D.M. Kutzer, Sean M. Segreti, Christopher Y. Brown, Russell H. Taylor, Simon C. Mears, Mehran Armand

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

Abstract

A dexterous manipulator (DM) with a large open lumen is presented. The manipulator is designed for surgical applications with a preliminary focus on the removal of os-teolysis formed behind the acetabular shell of primary total hip arthroplasties (THAs). The manipulator is constructed from two nested superelastic nitinol tubes enabling lengthwise channels for drive cables. Notches in the nested assembly provide reliable bending under applied cable tension producing kinematics that can be effectively modeled as a series of rigid vertebrae connected using pin joints. The manipulator is controlled in plane with two independently actuated cables in a pull-pull configuration. For the purpose of the procedure, the manipulator is mounted on a Z-θ stage adding a translational and rotational degree of freedom (DOF) along the axis of the manipulator. Preliminary experimental results demonstrate the initial modeling and control of the manipulator.

Original languageEnglish (US)
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages2913-2920
Number of pages8
DOIs
StatePublished - Dec 1 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period5/9/115/13/11

Keywords

  • Active cannula
  • Dexterous manipulator
  • Flexible manipulator
  • Medical applications
  • Medical robot
  • Snake-like robot

ASJC Scopus subject areas

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

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  • Cite this

    Kutzer, M. D. M., Segreti, S. M., Brown, C. Y., Taylor, R. H., Mears, S. C., & Armand, M. (2011). Design of a new cable-driven manipulator with a large open lumen: Preliminary applications in the minimally-invasive removal of osteolysis. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 2913-2920). [5980285] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5980285