Guiding Elastic Rods With a Robot-Manipulated Magnet for Medical Applications

Magnet-tipped, elastic rods can be steered by an external magnetic field to perform surgical tasks. Such rods could be useful for a range of new medical applications because they do not require either pull wires or other bulky mechanisms that are problematic in small anatomical regions. However, cur...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 33; no. 1; pp. 227 - 233
Main Authors:	Kratchman, Louis B., Bruns, Trevor L., Abbott, Jake J., Webster, Robert J.
Format:	Journal Article
Language:	English
Published:	United States IEEE 01.02.2017 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Catheter Catheters Insulators magnetic guidance Magnetic resonance imaging Magnetoelasticity minimally invasive surgery Permanent magnets Redundancy redundant robots Robots Rods Steering Torque Trajectories Trajectory Catheter magnetic guidance minimally invasive surgery redundant robots
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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