Continuum robots for multi-scale motion: Micro-scale motion through equilibrium modulation. Giudice, G. D., Wang, L., Shen, J., Joos, K., & Simaan, N. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 2537–2542, September, 2017.
doi  abstract   bibtex   
Existing robots for multi-scale motion (MSM) are unsuitable for micro-surgery in deep surgical sites where miniaturization and traversal of often tortuous anatomical passageways is required. Also, new emerging surgical paradigms for natural orifice surgery and image-based diagnosis and guidance at the micro-scale level promise to provide accurate verification of tumor resection margins. To overcome the limitations of current robot architectures, and to enable image-based biopsy and micro-surgery in confined spaces, we present a new concept of continuum robots with equilibrium modulation (CREM). CREM robots are a modification of multi-backbone continuum robots that achieve micro-motion by using indirect actuation through modulation of their static equilibrium by change of the distribution of their cross-sectional flexural rigidity. As a first step towards modeling the micro-scale kinematics of these robots, solutions for micro-motion tracking are presented and verified to achieve tracking accuracies of better than 2μm. Preliminary evaluation of the micro-motion capabilities of a first prototype demonstrates motion resolutions at 1μm level and hysteresis of less than 10μm - despite the use of inexpensive actuators with significant backlash. Finally, a demonstration of a first effort at integrating such a robot with a custom-made optical coherence tomography (OCT) probe is presented.
@inproceedings{giudice_continuum_2017,
	title = {Continuum robots for multi-scale motion: {Micro}-scale motion through equilibrium modulation},
	shorttitle = {Continuum robots for multi-scale motion},
	doi = {10.1109/IROS.2017.8206074},
	abstract = {Existing robots for multi-scale motion (MSM) are unsuitable for micro-surgery in deep surgical sites where miniaturization and traversal of often tortuous anatomical passageways is required. Also, new emerging surgical paradigms for natural orifice surgery and image-based diagnosis and guidance at the micro-scale level promise to provide accurate verification of tumor resection margins. To overcome the limitations of current robot architectures, and to enable image-based biopsy and micro-surgery in confined spaces, we present a new concept of continuum robots with equilibrium modulation (CREM). CREM robots are a modification of multi-backbone continuum robots that achieve micro-motion by using indirect actuation through modulation of their static equilibrium by change of the distribution of their cross-sectional flexural rigidity. As a first step towards modeling the micro-scale kinematics of these robots, solutions for micro-motion tracking are presented and verified to achieve tracking accuracies of better than 2μm. Preliminary evaluation of the micro-motion capabilities of a first prototype demonstrates motion resolutions at 1μm level and hysteresis of less than 10μm - despite the use of inexpensive actuators with significant backlash. Finally, a demonstration of a first effort at integrating such a robot with a custom-made optical coherence tomography (OCT) probe is presented.},
	booktitle = {2017 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems} ({IROS})},
	author = {Giudice, G. Del and Wang, L. and Shen, J. and Joos, K. and Simaan, N.},
	month = sep,
	year = {2017},
	keywords = {CREM robots, Image edge detection, Image segmentation, Modulation, Robots, Surgery, Tracking, Wires, biomedical optical imaging, current robot architectures, deep surgical sites, emerging surgical paradigms, equilibrium modulation, medical robotics, micromotion capabilities, micromotion tracking, microscale kinematics, microscale level promise, microscale motion, microsurgery, motion resolutions, multibackbone continuum robots, multiscale motion, natural orifice surgery, optical tomography, robot kinematics, static equilibrium, surgery, tortuous anatomical passageways, tumours},
	pages = {2537--2542}
}

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