Toward robot-assisted hard osteolytic lesion treatment using a continuum manipulator

Farshid Alambeigi; Y. Wang; Ryan J. Murphy; Iulian Iordachita; Mehran Armand

doi:10.1109/EMBC.2016.7591875

Toward robot-assisted hard osteolytic lesion treatment using a continuum manipulator

Farshid Alambeigi, Y. Wang, Ryan J. Murphy, Iulian Iordachita, Mehran Armand

School of Medicine

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 Scopus citations

Abstract

In this paper, we describe the design and fabrication of an actuation unit for controlling a continuum dexterous manipulator (CDM). The actuation unit is attached to a positioning robot and the integrated system provides sufficient dexterity for placement of a proposed flexible cutting tool used for treatment of oseteolysis (bone degradation). Preliminary experiments on simulated osteolytic lesions demonstrated the feasibility of using the novel flexible cutter inside the continuum manipulator. In these experiments, we found an optimal combination of rotational and sweeping speed of the cutter through the lesion. We also investigated the buckling of the flexible cutter during the cutting procedure.

Original language	English (US)
Title of host publication	2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5103-5106
Number of pages	4
ISBN (Electronic)	9781457702204
DOIs	https://doi.org/10.1109/EMBC.2016.7591875
State	Published - Oct 13 2016
Event	38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016 - Orlando, United States Duration: Aug 16 2016 → Aug 20 2016

Publication series

Name	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Volume	2016-October
ISSN (Print)	1557-170X

Other

Other	38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
Country/Territory	United States
City	Orlando
Period	8/16/16 → 8/20/16

ASJC Scopus subject areas

Signal Processing
Biomedical Engineering
Computer Vision and Pattern Recognition
Health Informatics

Access to Document

10.1109/EMBC.2016.7591875

Cite this

Alambeigi, F., Wang, Y., Murphy, R. J., Iordachita, I., & Armand, M. (2016). Toward robot-assisted hard osteolytic lesion treatment using a continuum manipulator. In 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016 (pp. 5103-5106). Article 7591875 (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS; Vol. 2016-October). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EMBC.2016.7591875

Toward robot-assisted hard osteolytic lesion treatment using a continuum manipulator. / Alambeigi, Farshid; Wang, Y.; Murphy, Ryan J. et al.
2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 5103-5106 7591875 (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS; Vol. 2016-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Alambeigi, F, Wang, Y, Murphy, RJ, Iordachita, I & Armand, M 2016, Toward robot-assisted hard osteolytic lesion treatment using a continuum manipulator. in 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016., 7591875, Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, vol. 2016-October, Institute of Electrical and Electronics Engineers Inc., pp. 5103-5106, 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016, Orlando, United States, 8/16/16. https://doi.org/10.1109/EMBC.2016.7591875

Alambeigi F, Wang Y, Murphy RJ, Iordachita I, Armand M. Toward robot-assisted hard osteolytic lesion treatment using a continuum manipulator. In 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 5103-5106. 7591875. (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS). doi: 10.1109/EMBC.2016.7591875

Alambeigi, Farshid ; Wang, Y. ; Murphy, Ryan J. et al. / Toward robot-assisted hard osteolytic lesion treatment using a continuum manipulator. 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 5103-5106 (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS).

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Toward robot-assisted hard osteolytic lesion treatment using a continuum manipulator

Abstract

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