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Morimoto TK, Greer JD, Hsieh MH, et al. Surgeon Design Interface for Patient-Specific Concentric Tube Robots. Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2016;2016:41-48doi: 10.1109/BIOROB.2016.7523596.
Morimoto, T. K., Greer, J. D., Hsieh, M. H., & Okamura, A. M. (2016). Surgeon Design Interface for Patient-Specific Concentric Tube Robots. Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 201641-48. https://doi.org/10.1109/BIOROB.2016.7523596
Morimoto, Tania K, et al. "Surgeon Design Interface for Patient-Specific Concentric Tube Robots." Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics vol. 2016 (2016): 41-48. doi: https://doi.org/10.1109/BIOROB.2016.7523596
Morimoto TK, Greer JD, Hsieh MH, Okamura AM. Surgeon Design Interface for Patient-Specific Concentric Tube Robots. Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2016 Jun;2016:41-48. doi: 10.1109/BIOROB.2016.7523596. Epub 2016 Jul 28. PMID: 28656124; PMCID: PMC5483336.
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Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2016 Jun;2016:41-48. doi: 10.1109/BIOROB.2016.7523596. Epub 2016 Jul 28.

Surgeon Design Interface for Patient-Specific Concentric Tube Robots.

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics

Tania K Morimoto, Joseph D Greer, Michael H Hsieh, Allison M Okamura

Affiliations

  1. Department of Mechanical Engineering, Stanford University, Stanford, CA, 94035 USA.
  2. Department of Urology, Children's National Health System, Washington, District of Columbia, 20010 USA.

PMID: 28656124 PMCID: PMC5483336 DOI: 10.1109/BIOROB.2016.7523596

Abstract

Concentric tube robots have potential for use in a wide variety of surgical procedures due to their small size, dexterity, and ability to move in highly curved paths. Unlike most existing clinical robots, the design of these robots can be developed and manufactured on a patient- and procedure-specific basis. The design of concentric tube robots typically requires significant computation and optimization, and it remains unclear how the surgeon should be involved. We propose to use a virtual reality-based design environment for surgeons to easily and intuitively visualize and design a set of concentric tube robots for a specific patient and procedure. In this paper, we describe a novel patient-specific design process in the context of the virtual reality interface. We also show a resulting concentric tube robot design, created by a pediatric urologist to access a kidney stone in a pediatric patient.

References

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