Continuum Robots, Tools, and Algorithms for Tissue Manipulation


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Accomplishment

We are developing a suite of surgical tools for minimally invasive, robotic surgery of the hip, knee, and spine using a continuum manipulator. Our system is capable of autonomous, robot-assisted, and hand-held operation, allowing for the surgeon to configure the system to optimize for time, cost, and safety.


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Status

We have successfully demonstrated autonomous treatment of osteolysis using feedback from an FBG sensor, as well as stable operation of the CDM for hand-held milling and drilling.


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Publications

  1. S. Sefati, M. Armand, I. Iurdachita, “Data-Driven Collision Detection for Manipulator Arms,” U.S. Patent Application 20200338723 10/29/2020

  2. F. Alambeigi, R. Seifabadi, M. Armand, “Devices with Low Melting Point Alloy for Control of Device Flexibility,” U.S. Patent Application. 16872519, 09/03/2020

  3. F. Alambeigi, M. Armand, "Steerable Drill for Minimally-Invasive Surgery," ed: U.S. Patent App. 16/490,751, 2020

  4. M. Armand., M. Moses, M.D. Kutzer, J.E. Tiffany, “Adjustable-Stiffness Morphable Manipulator,” U.S. Patent No. US10259129, 4/16/2019

  5. I. Iordochita , L. Hao, M. Armand, R.H. Taylor, ”Shape Tracking of a Dexterous Continuum Manipulator, ” U.S. Patent No. 10 226304B2, Issued: 3/12/2019

  6. M. Armand, M. Kutzer, C. Brown, R.H. Taylor, “Cable-Driven Morphable Manipulator,“ Patent No US9737687, 22/8/2017


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