Full Content is available to subscribers

Subscribe/Learn More  >

Design of a Minimally Invasive Lung Tumor Localization Device

[+] Author Affiliations
Tomasz P. Kurowski, Ana Luisa Trejos, Michael D. Naish, Rajni V. Patel, Richard A. Malthaner

The University of Western Ontario, London, ON, Canada

Paper No. DSCC2012-MOVIC2012-8643, pp. 411-418; 8 pages
  • ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference
  • Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control
  • Fort Lauderdale, Florida, USA, October 17–19, 2012
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4531-8
  • Copyright © 2012 by ASME


This paper describes the design, analysis, and experimental validation of a novel minimally invasive instrument for lung tumor localization. The instrument end effector is a two-degree of freedom lung tissue palpator. It allows for optimal tissue palpation to increase useful sensor feedback by ensuring sensor contact, and prevents tissue damage by uniformly distributing pressure on the tissue. Finite element analysis was used to guide the design process, resulting in a final design that could achieve a factor of safety of 4 for a 20 N force acting on the end effector—the approximate weight of a human lung. Validation experiments were conducted on a prototype instrument to assess its articulation and load-carrying capacity. The end effector design allows for the inclusion of ultrasound, tactile, and kinesthetic sensors. It is expected that this device will form the basis for robotics-assisted palpation and increase the likelihood of positive tumor localization.

Copyright © 2012 by ASME
Topics: Design , Lung , Tumors



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In