Title: Design, Analysis, and Evaluation of Continuum Robots for Minimally Invasive Endovascular and Neurosurgical Interventions

Data: April 23, 2025

Time: 10:00 am - 12:00 pm

Location: Klaus 1212

Virtual Link: https://gatech.zoom.us/j/93678447315?pwd=s2HZxidQm99gGhQ40h6CSGUIJCsHLC.1

Timothy A. Brumfiel

Robotics PhD Student

Woodruff School of Mechanical Engineering

Georgia Institute of Technology

Committee:

Dr. Jaydev P. Desai (Advisor) 

Wallace H. Coulter Department of Biomedical Engineering

 Georgia Institute of Technology

Dr. Yue Chen 

Wallace H. Coulter Department of Biomedical Engineering

 Georgia Institute of Technology

Dr. Jun Ueda 

George W. Woodruff School of Mechanical Engineering

Georgia Institute of Technology

Dr. Levi Wood 

George W. Woodruff School of Mechanical Engineering

Georgia Institute of Technology

Dr. Zachary L. Bercu -

Department of Radiology and Imaging Sciences

Emory University

Abstract:

Minimally invasive procedures utilize small incisions or natural orifices to perform surgery from within the body. This approach has the benefit of reduced patient trauma. However, manual navigation of the passive flexible devices utilized in these procedures is challenging in blood vessels with small diameters and extreme tortuosity or in regions with delicate surrounding structures, such as in neurosurgery. Continuum robots offer increased dexterity, compliance, and, due to their simple structures, are highly miniaturizable, making them suitable for minimally invasive interventions. This work first focuses on a two degrees-of-freedom tendon-driven continuum robot tool for minimally invasive neurosurgery. The meso-scale tool is integrated with a robotic grasper for the manipulation of tissue, fiber optic strain sensors for shape and force sensing, and is evaluated by medical personnel within a phantom brain model. This work then focuses on sub-mm robotically steerable guidewires for endovascular interventions. Systematic design of the fabrication parameters is conducted and a highly compact actuation mechanism is developed. The guidewire is further equipped with shape and force sensing through both fiber optics and imaging, and the feasibility of the device is tested in both phantom and in vivo animal models. Lastly, the robot guidewire is augmented with an active stiffening segment on the proximal end, allowing for the stiffness to range from 0.5-5X the natural stiffness of the tool. Ongoing work focuses on extending active stiffening capabilities to 3-dimensional space. This work demonstrates the range of capabilities robotic devices can provide regarding stiffness control, compactness, improved dexterity, and increase safety while navigating within the body.