An Autoclavable Steerable Cannula Manual Deployment Device: Design and Accuracy Analysis


          

刊名：Journal of Medical Devices
作者：Jessica Burgner（Department of Mechanical Engineering, Vanderbilt University）
Philip J. Swaney（Department of Mechanical Engineering, Vanderbilt University）
Trevor L. Bruns（Department of Mechanical Engineering, Vanderbilt University）
Marlena S. Clark（Department of Mechanical Engineering, Vanderbilt University）
D. Caleb Rucker（Department of Mechanical Engineering, Vanderbilt University）
E. Clif Burdette（Acoustic MedSystems Inc.）
Robert J. Webster（Department of Mechanical Engineering, Vanderbilt University）
刊号：611B0028
ISSN：1932-6181
出版年：2012
年卷期：2012, vol.6, no.4
页码：041007-1--041007-7
总页数：7
分类号：R31
语种：eng
文摘：Accessing a specific, predefined location identified in medical images is a common interventional task for biopsies and drug or therapy delivery. While conventional surgical needles provide little steerability, concentric tube continuum devices enable steering through curved trajectories. These devices are usually developed as robotic systems. However, manual actuation of concentric tube devices is particularly useful for initial transfer into the clinic since the Food and Drug Administration (FDA) and Institutional Review Board (IRB) approval process of manually operated devices is simple compared to their motorized counterparts. In this paper, we present a manual actuation device for the deployment of steerable cannulas. The design focuses on compactness, modularity, usability, and sterilizability. Further, the kinematic mapping from joint space to Cartesian space is detailed for an example concentric tube device. Assessment of the device's accuracy was performed in free space, as well as in an image-guided surgery setting, using tracked 2D ultrasound.



©2016机械工业出版社（机械工业信息研究院） 京ICP备05055788号-35