Search research articles

ABOUT JoVE

Overview Leadership Blog JoVE Help Center

AUTHORS

Publishing Process Editorial Board Scope & Policies Peer Review FAQ Submit

LIBRARIANS

Testimonials Subscriptions Access Resources Library Advisory Board FAQ

RESEARCH

JoVE Journal Methods Collections JoVE Encyclopedia of Experiments Archive

EDUCATION

JoVE Core JoVE Business JoVE Science Education JoVE Lab Manual Faculty Resource Center Faculty Site

Terms & Conditions of Use

Related Concept Videos

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by

Same author

Encoding Desired Deformation Profiles in Endoscope-Like Soft Robots.

IEEE transactions on medical robotics and bionics·2025

Same author

Unified Shape and External Load State Estimation for Continuum Robots.

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society·2024

Same author

A Multi-Modal Sensor Array for Human-Robot Interaction and Confined Spaces Exploration Using Continuum Robots.

IEEE sensors journal·2022

Same author

Investigation of Micro-motion Kinematics of Continuum Robots for Volumetric OCT and OCT-guided Visual Servoing.

IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division·2021

Same author

A Dynamic Model for Concentric Tube Robots.

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society·2021

Same author

Reply re: "Utilizing 3D-Printed Orbital Floor Stamps to Create Patient-Specific Implants for Orbital Floor Reconstruction".

Ophthalmic plastic and reconstructive surgery·2020

Same journal

Analysis of End-Tidal CO2 Variability During Plateau Waves Episodes: An Information Theoretic Approach<sup></sup>.

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference·2025

Same journal

AI and Tomosynthesis for Breast Cancer Molecular Subtyping: A step toward precision medicine<sup></sup>.

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference·2025

Same journal

Towards Sustainable Protein Recovery from Biological Waste: Assessing Polyethersulfone-based Microfiltration.

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference·2025

Same journal

Analysis of the cardiovascular response to standardized polymicrobial peritonitis experimental model.

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference·2025

Same journal

Automated Wrist Ultrasound Image Bone Enhancement and Segmentation Using Deep Learning.

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference·2025

Same journal

A Deep Learning approach for Depressive Symptoms assessment in Parkinson's disease patients using facial videos.

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference·2025

See all related articles

Search research articles

Related Experiment Video

Updated: Mar 27, 2026

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

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

Published on: January 7, 2019

A surgical parallel continuum manipulator with a cable-driven grasper.

Andrew L Orekhov, Caroline E Bryson, John Till

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference

|January 7, 2016

Summary

This summary is machine-generated.

This study introduces a miniature robotic manipulator for surgery, featuring a parallel continuum design for enhanced dexterity in confined spaces. The proof-of-concept system demonstrates feasibility for endoscopic procedures.

More Related Videos

A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique

A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique

Published on: January 6, 2023

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

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: Mar 27, 2026

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

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

Published on: January 7, 2019

A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique

A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique

Published on: January 6, 2023

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

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

Published on: November 14, 2015

Area of Science:

Robotics
Medical Devices
Mechanical Engineering

Background:

Minimally invasive surgery requires high-dexterity instruments for confined spaces.
Existing endoscopic tools often have limited maneuverability and stability.
Continuum manipulators offer potential for improved dexterity in surgical applications.

Purpose of the Study:

To present the design, construction, and control of a miniaturized parallel continuum manipulator.
To demonstrate a proof-of-concept for enhanced dexterity and stability in endoscopic surgery.
To develop a computationally efficient control system for precise actuation.

Main Methods:

Designed and constructed a 6-DOF, 12 mm diameter parallel continuum manipulator.
Integrated a 2-DOF cable-driven grasper actuated by Kevlar cables.
Implemented a computationally efficient inverse kinematics model for control.
Utilized ten independent linear actuators for platform and end-effector control.

Main Results:

Successfully designed and built a compact, high-DOF robotic manipulator.
Demonstrated the feasibility of a cable-driven grasper with 180-degree jaw motion.
Validated the system's performance through open-loop range-of-motion tests.
The robotic system achieved precise control via an efficient inverse kinematics model.

Conclusions:

The miniaturized parallel continuum manipulator is a feasible design for endoscopic surgery.
The system offers potential for increased dexterity and stability in confined surgical spaces.
Further development could lead to advanced robotic surgical tools.