Tendons, concentric tubes, and a bevel tip: Three steerable robots in one transoral lung access system

@article{Swaney2015TendonsCT,
  title={Tendons, concentric tubes, and a bevel tip: Three steerable robots in one transoral lung access system},
  author={Philip J. Swaney and Arthur W. Mahoney and Andria A. Remirez and Erik P. Lamers and Bryan I. Hartley and Richard H. Feins and Ron Alterovitz and Robert J. Webster},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2015},
  pages={5378-5383}
}
Lung cancer is the most deadly form of cancer, and survival depends on early-stage diagnosis and treatment. Transoral access is preferable to traditional between-the-ribs needle insertion because it is less invasive and reduces risk of lung collapse. Yet many sites in the peripheral zones of the lung or distant from the bronchi cannot currently be accessed transorally, due to the relatively large diameter and lack of sufficient steerablity of current instrumentation. To remedy this, we propose… CONTINUE READING

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