Special Section Technical Briefs

A Disposable Robot for Intracerebral Hemorrhage Removal1

[+] Author and Article Information
Yifan Zhu, Philip J. Swaney, Isuru S. Godage, Ray A. Lathrop, Robert J. Webster, III

Department of Mechanical Engineering,
Vanderbilt University,
Nashville, TN 37235

DOI: 10.1115/1.4033246Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online May 12, 2016. Editor: William Durfee.

J. Med. Devices 10(2), 020952 (May 12, 2016) (2 pages) Paper No: MED-16-1174; doi: 10.1115/1.4033246 History: Received March 01, 2016; Revised March 17, 2016

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Burgner, J. , Swaney, P. J. , Lathrop, R. A. , Weaver, K. D. , and Webster, R. J. , 2013, “ Debulking From Within: A Robotic Steerable Cannula for Intracerebral Hemorrhage Evacuation,” IEEE Trans. Biomed. Eng., 60(9), pp. 2567–2575. [CrossRef] [PubMed]
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NDC, 2015, “ Nitinol Material Tube,” Nitinol Devices and Components, Inc., Fremont, CA, accessed Nov. 9, 2015, https://shop.nitinol.com/shop/?slug=index.php&cPath=27
Godage, I. S. , Remirez, A. A. , Wirz, R. , Weaver, K. D. , Burgner, J. , and Webster, R. J. , 2015, “ Robotic Intracerebral Hemorrhage Evacuation: An In-Scanner Approach With Concentric Tube Robots,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, Sept. 28–Oct. 2, pp. 1444–1452.


Grahic Jump Location
Fig. 2

The assembled robot is shown with only the mechanical components and motors included. The sensing systems described have been designed, but not yet implemented on the prototype.

Grahic Jump Location
Fig. 1

CAD drawings of the robot are shown. On the top is an isometric view of the assembled robot. On the bottom left is the isometric view of the inner tube carriage. On the bottom right is the bottom view of the inner tube carriage.



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