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Lung cancer is the leading cause of cancer-related death, and early-stage diagnosis is critical to survival. Biopsy is typically required for a definitive diagnosis, but current low-risk clinical options for lung biopsy cannot access all biopsy sites. We introduce a motion planner for a multilumen transoral lung access system, a new system that has the potential to perform safe biopsies anywhere in...
Concentric tube robots are thin, tentacle-like devices that can move along curved paths and can potentially enable new, less invasive surgical procedures. Safe and effective operation of this type of robot requires that the robot's shaft avoid sensitive anatomical structures (e.g., critical vessels and organs) while the surgeon teleoperates the robot's tip. However, the robot's unintuitive kinematics...
Concentric tube robots may enable new, safer minimally invasive surgical procedures by moving along curved paths to reach difficult-to-reach sites in a patient's anatomy. Operating these devices is challenging due to their complex, unintuitive kinematics and the need to avoid sensitive structures in the anatomy. In this paper, we present a motion planning method that computes collision-free motion...
We introduce a method for task-oriented design of concentric tube robots, which are tentacle-like robots with the potential to enable new minimally invasive surgical procedures. Our objective is to create a robot design on a patient-specific and surgery-specific basis to enable the robot to reach multiple clinically relevant sites while avoiding anatomical obstacles. Our method uses a mechanically...
Concentric tube robots have the potential to enable new minimally invasive surgical procedures by curving around anatomical obstacles to reach difficult-to-reach sites in body cavities. Planning motions for these devices is challenging in part due to their complex kinematics; concentric tube robots are composed of thin, pre-curved, telescoping tubes that can achieve a variety of shapes via extension...
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