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Related Experiment Video

Updated: Jul 14, 2026

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
07:41

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

A novel end-effector design for robotics in image-guided needle procedures.

D Sun1, C Willingham, A Durrani

  • 1Department of Biomedical Engineering, Vanderbilt University, Nashville, TN, USA.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|May 24, 2007
PubMed
Summary

A novel robotic end-effector offers flexible, switchable modes for precise needle placement in image-guided procedures. This innovation addresses limitations in automated needle insertion for moving targets and mitigates risks from patient motion.

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Area of Science:

  • Robotics
  • Medical Devices
  • Minimally Invasive Surgery

Background:

  • Robotic end-effectors are crucial for image-guided minimally invasive procedures like tumor ablation and biopsies.
  • Current challenges exist in precise needle manipulation during these procedures.

Purpose of the Study:

  • To design a novel mechanical end-effector for robotic arms.
  • To address challenges in needle-based procedures, specifically liver biopsy and ablation.

Main Methods:

  • A single articulating arm end-effector was designed to grip needles and instruments.
  • The design allows for high degrees of freedom during complex motions and breathing patterns.
  • A cable system enables the arm to be fixed into a rigid state for needle insertion.

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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Published on: November 14, 2015

Related Experiment Videos

Last Updated: Jul 14, 2026

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
07:41

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

A Spine Robotic-Assisted Navigation System for Pedicle Screw Placement
06:24

A Spine Robotic-Assisted Navigation System for Pedicle Screw Placement

Published on: May 11, 2020

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
11:06

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Published on: November 14, 2015

Main Results:

  • The presented design requires electro-mechanical stimulation and remote joystick control.
  • A simulation study using tissue phantoms validated the process for hepatic tissue and abdominal wall properties.
  • The robotic arm with the end-effector is deployable in image-guided interventional suites.

Conclusions:

  • The switchable, flexible robotic arm mode overcomes limitations in automated needle placement for mobile targets.
  • This technology can mitigate risks associated with breathing or patient motion during procedures.