Naoyuki Shono

National Center for Image Guided Therapy, Brigham and Women’s Hospital and Harvard Medical School, MA,USA


  • Continuum Robot with Follow the Leader Motion for Endoscopic Third Ventriculostomy and Tumor Biopsy

    This paper presents a miniature wire-driven multisection continuum robot (diameter of 3.4 mm/length of 60 mm) which performs a combined endoscopic third ventriculostomy (ETV) and endoscopic tumor biopsy (ETB). Key contributions are the miniature continuum robot including push-pull wires (0.15 mm in diameter) which control six bending subsections of the robot, a kinetic model to control the individual subsections of the robot by follow-the-leader (FTL) motion, and a clinical strategy to design a curved path for FTL motion. This robot can introduce surgical tools to ETV/ETB sites by a single curved trajectory through a single incision, unlike the current conventional approach which requires multiple tool placement through multiple trajectories and incisions.


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