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  4. A Flat Tendon-Driven Continuum Microrobot for Brain Interventions
 
conference paper

A Flat Tendon-Driven Continuum Microrobot for Brain Interventions

Noseda, Lorenzo  
•
Liu, Addison
•
Pancaldi, Lucio  
Show more
2024
Proceedings - IEEE International Conference on Robotics and Automation
IEEE International Conference on Robotics and Automation

Navigating biomedical instruments inside the brain remains challenging and high-risk. The delicate nature of the tissues involved requires the development of cutting-edge robotic technologies to enhance precision and safety. In response to these demands, this paper presents a novel ribbon-shaped, tendon-driven continuum microrobot designed explicitly to navigate through brain tissues. The microrobot has a cross-sectional area of 1 mm2, and its design is readily compatible with conventional microfabrication techniques for further miniaturization. The flat geometry aims to provide superior maneuverability and opens up new challenges for modeling and control. We detail the design methodology and fabrication, followed by in vitro characterization and testing within brain tissue phantoms.

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Type
conference paper
DOI
10.1109/ICRA57147.2024.10611399
Scopus ID

2-s2.0-85202450466

Author(s)
Noseda, Lorenzo  

École Polytechnique Fédérale de Lausanne

Liu, Addison

Harvard John A. Paulson School of Engineering and Applied Sciences

Pancaldi, Lucio  

École Polytechnique Fédérale de Lausanne

Sakar, Mahmut Selman  

École Polytechnique Fédérale de Lausanne

Date Issued

2024

Publisher

Institute of Electrical and Electronics Engineers Inc.

Published in
Proceedings - IEEE International Conference on Robotics and Automation
ISBN of the book

9798350384574

Start page

13466

End page

13471

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
MICROBS  
Event nameEvent acronymEvent placeEvent date
IEEE International Conference on Robotics and Automation

Yokohama, Japan

2024-05-13 - 2024-05-17

Available on Infoscience
January 26, 2025
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/244580
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