Continuum Robot With Follow-the-Leader Motion for Endoscopic Third Ventriculostomy and Tumor Biopsy

Background: In a combined endoscopic third ventriculostomy (ETV) and endoscopic tumor biopsy (ETB) procedure, an optimal tool trajectory is mandatory to minimize trauma to surrounding cerebral tissue. Objective: This paper presents wire-driven multi-section robot with pushpull wire. The robot is tes...

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Bibliographic Details
Published in:	IEEE transactions on biomedical engineering Vol. 67; no. 2; pp. 379 - 390
Main Authors:	Gao, Yuanqian, Takagi, Kiyoshi, Kato, Takahisa, Shono, Naoyuki, Hata, Nobuhiko
Format:	Journal Article
Language:	English
Published:	United States IEEE 01.02.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Accuracy Biopsy Biopsy - instrumentation Biopsy - methods Brain injury Brain Neoplasms - pathology Brain Neoplasms - surgery Continuum robot Deviation Endoscopes endoscopic biopsy Endoscopy Endoscopy - instrumentation follow-the-leader motion Human motion Human subjects Humans Hydrocephalus Hydrocephalus - surgery Male Medical instruments Middle Aged neuroendoscopy Phantoms, Imaging Robot dynamics Robot kinematics Robotic surgery Robotic Surgical Procedures - instrumentation Robots Surgical instruments third ventriculostomy Trajectories Trajectory Tumors Ventricle Ventriculostomy - methods Wire Wires
ISSN:	0018-9294, 1558-2531, 1558-2531
Online Access:	Get full text
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