Evaluating the deflection of dexterous continuum manipulators with unevenly distributed compliant joints

Anzhu Gao, Ryan J. Murphy, Hao Liu, Iulian Iordachita, Mehran Armand

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

Abstract

Dexterous continuum manipulators (DCMs) offer great potential for increasing instrument reach in minimally-invasive surgical procedures. We previously designed and fabricated a tendon driven DCM with a large instrument channel and evenly distributed compliant joints for minimally-invasive skull base surgery and the treatment of osteolysis during hip revision surgery. The evenly distributed compliant joints, in some cases, may limit the reach of the DCM during lesion removal. In this paper, we propose a finite element analysis (FEA) method for optimizing the distribution of the compliant joints based on treatment space requirements determined preoperatively. After performing experiments to validate the FEA results, we investigated the effects of height and cross distance of unevenly distributed compliant joints on tip trajectories and deflection shapes of DCMs. A boundary exploration for skull base surgery was performed to investigate the improvement in the percent of boundary explored by the optimized DCMs with the unevenly distributed compliant joints. Results show the advantage of using DCMs with unevenly distributed joints in reaching the boundary of the lesion. For a typical lesion in the petrous apex during skull base surgery, simulation results indicates that the design of unevenly distributed compliant joints can increase the reach of the DCM accomplishing 71% lesion removal compared with 59% from the DCM with evenly distributed compliant joints.

Original languageEnglish (US)
Title of host publication2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5099-5102
Number of pages4
Volume2016-October
ISBN (Electronic)9781457702204
DOIs
Publication statusPublished - Oct 13 2016
Event38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016 - Orlando, United States
Duration: Aug 16 2016Aug 20 2016

Other

Other38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
CountryUnited States
CityOrlando
Period8/16/168/20/16

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ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

Cite this

Gao, A., Murphy, R. J., Liu, H., Iordachita, I., & Armand, M. (2016). Evaluating the deflection of dexterous continuum manipulators with unevenly distributed compliant joints. In 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016 (Vol. 2016-October, pp. 5099-5102). [7591874] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EMBC.2016.7591874