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

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

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

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 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.
Pages5103-5106
Number of pages4
Volume2016-October
ISBN (Electronic)9781457702204
DOIs
StatePublished - 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

ASJC Scopus subject areas

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

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