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Design Considerations for Continuum Robot Actuation Units Enabling Dexterous Transurethral Bladder Cancer Resection

[+] Author Affiliations
Giuseppe Del Giudice, Nima Sarli, Nabil Simaan

Vanderbilt University, Nashville, TN

Stanley D. Herrell

Vanderbilt University Medical Center, Nashville, TN

Paper No. DETC2016-59303, pp. V05AT07A030; 10 pages
  • ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 40th Mechanisms and Robotics Conference
  • Charlotte, North Carolina, USA, August 21–24, 2016
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5015-2
  • Copyright © 2016 by ASME


The last decade has seen rapid growth in exploring the potential of continuum robots for a variety of surgical applications. The design of these robots requires unique electro-mechanical architectures of actuation units that satisfy operational requirements of precision, workspace, and payload capabilities. This paper presents the task-based design process of a compact nine degrees of freedom actuation unit for transurethral resection of bladder tumor (TURBT). This actuation unit has a unique modular architecture allowing partial decoupling of actuation, force and position sensing in a compact modular format. The derivation of task specifications based on kinematic simulations takes into account workspace, accuracy and force application capabilities for TURBT. Design considerations for supporting modularity, serviceability, sterilization, and compactness are presented. The detailed exposition of the design process serves as a case study that will be helpful for other groups interested in the development and integration of surgical continuum robots.

Copyright © 2016 by ASME
Topics: Robots , Design , Cancer



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