Kinematics and calibration of active cannulas

  title={Kinematics and calibration of active cannulas},
  author={Robert J. Webster and Joseph M. Romano and Noah J. Cowan},
  journal={2008 IEEE International Conference on Robotics and Automation},
Active cannulas are remotely actuated thin continuum robots with the potential to traverse narrow and winding environments without relying on "guiding" environmental reaction forces. These features seem ideal for procedures requiring passage through narrow openings to access air-filled cavities (e.g. surgery in the throat and lung). Composed of telescoping concentric pre-curved elastic tubes, an active cannula is actuated at its base by translation and axial rotation of component tubes. Using… CONTINUE READING
Highly Cited
This paper has 40 citations. REVIEW CITATIONS


Publications citing this paper.
Showing 1-10 of 25 extracted citations


Publications referenced by this paper.
Showing 1-10 of 18 references

Design and Mechanics of Continuum Robots for Surgery

  • R. J. Webster
  • Mechanical engineering,
  • 2007
1 Excerpt

Curved multi-tube systems for fetal blood sampling and treatments of organs like brain and breast

  • J. Furusho, T. Katsuragi, +4 authors H. Horio
  • Journal of Computer Assisted Radiology and…
  • 2006
3 Excerpts

A deflectable needle assembly

  • W. Daum
  • Patent
  • 2003
2 Excerpts

Similar Papers

Loading similar papers…