Medical Robotics Seminar: Miniature Multi-modal Medical Robots

Manual manipulation of traditional minimally invasive devices for life-saving surgery is time consuming with uncertain results. Steerable robotic micro-catheters and miniature endoscopes are essential to the operating room of the future, but lack the dexterity needed to navigate tortuous human anatomy. This talk introduces the design of three unique miniature robots: 1) A robotic catheter to deliver targeted electrical stimulation to the spinal cord, 2) a miniature robotically steered stylet for deep-seated cancers, and 3) a laser-steering robot for minimally invasive neurological surgery. These robots demonstrate follow-the-leader motion (i.e. the ability to snake through tortuous anatomy) due to their use of multi-modal actuation strategies. A mathematical model is discussed that allows us to predict the shape of these multi-modal robots. This model allows us to accurately predict the "bending and twisting" behavior seen in these type of robots, which is critical for their safe operation in surgical scenarios.