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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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References

Asch, C. J. J. V. , Luitse, M. J. , Rinkel, G. J. , Tweel, I. V. D. , Algra, A. , and Klijin, C. J. , 2010, “ Incidence, Case Fatality, and Functional Outcome of Intracerebral Haemorrhage Over Time, According to Age, Sex, and Ethnic Origin: A Systematic Review and Meta-Analysis,” Lancet Neurol., 9(2), pp. 167–176. [CrossRef] [PubMed]
Etaminan, N. , Beseoglu, K. , Turowski, B. , Steiger, H. J. , and Hanggi, D. , 2011, “ Perfusion CT in Patients With Spontaneous Lobar Intracerebral Hemorrhage,” Stroke, 43(3), pp. 759–763. [CrossRef] [PubMed]
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]
Torabi, M. , Gupta, R. , and Walsh, C. J. , 2014, “ Compact Robotically Steerable Image-Guided Instrument for Multi-Adjacent-Point (MAP) Targeting,” IEEE Trans. Rob., 30(4), pp. 802–815. [CrossRef]
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.

Figures

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.

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.

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