A 3D Static Modeling Method and Experimental Verification of Continuum Robots Based on Pseudo-Rigid Body Theory

Huang, Shaoping; Meng, Deshan; Wang, Xueqian; Liang, Bin; Lu, Weining

doi:10.1109/iros40897.2019.8968526

Cited by 27 publications

(16 citation statements)

References 21 publications

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“…Two forces are considered to be applied at the point

of disk j , pointing towards

and

respectively, and the net moments and forces propagated from the preceding subsegments are considered. However, in the PRB models of Huang et al (2018) ; Huang et al (2019) , each tendon is assumed to apply only one force in the direction of

, and the equilibrium equations are written without considering the propagated moments and forces from the preceding subsegments. Simulations show that these two expressions lead to the same robot shape when no external forces or moments are applied.…”

Section: Discussionmentioning

confidence: 99%

“…As continuum robots can experience large deformations due to applied load, the 3R model, proposed by ( Su, 2009 ) has been used to model TDCRs as its parameters are load independent. It is applied to the planar case by Huang et al (2018) and Khoshnam et al (2015) , and further extended to the 3D case by Huang et al (2019) . The subsegment is approximated by four rigid links, as shown in Figure 5D , with the first and last link tangent to the local z axis.…”

Section: Continuum Backbone Parameterizationmentioning

confidence: 99%

“…The rotation by

ensures that there is no twist in the model. Therefore, the above model, proposed by Huang et al (2019) can only account for in-plane bending of a subsegment, and cannot account for external forces. In order to account for this external force, we propose the inclusion of an additional parameter,

to account for the twist in each subsegment.…”

Section: Continuum Backbone Parameterizationmentioning

confidence: 99%

“…In order to compute the bending plane angle

, Huang et al (2019) propose a geometrical relation in the case the robot is composed of one sub-segment and is not subject to twist. In this scenario, the component

is zero and

can be determined so that

is collinear with the normal of the bending plane

using the relation

…”

Section: Static Modellingmentioning

confidence: 99%

“…We consider especially the extended PRB model including torsion. The static models have been used to model the impact of various loading conditions on the shape of TDCR ( Rucker and Webster, 2011a ; Huang et al, 2019 ; Yuan et al, 2019 ). Their performances are compared for a relevant design of TDCR with different design parameters and in two relevant scenarios.…”

Section: Comparison Of Tdcr Models and Guidelinesmentioning

confidence: 99%

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How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance

et al. 2021

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Tendon actuation is one of the most prominent actuation principles for continuum robots. To date, a wide variety of modelling approaches has been derived to describe the deformations of tendon-driven continuum robots. Motivated by the need for a comprehensive overview of existing methodologies, this work summarizes and outlines state-of-the-art modelling approaches. In particular, the most relevant models are classified based on backbone representations and kinematic as well as static assumptions. Numerical case studies are conducted to compare the performance of representative modelling approaches from the current state-of-the-art, considering varying robot parameters and scenarios. The approaches show different performances in terms of accuracy and computation time. Guidelines for the selection of the most suitable approach for given designs of tendon-driven continuum robots and applications are deduced from these results.

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“…Two forces are considered to be applied at the point

of disk j , pointing towards

and

Section: Discussionmentioning

confidence: 99%

Section: Continuum Backbone Parameterizationmentioning

confidence: 99%

“…The rotation by

to account for the twist in each subsegment.…”

Section: Continuum Backbone Parameterizationmentioning

confidence: 99%

“…In order to compute the bending plane angle

, Huang et al (2019) propose a geometrical relation in the case the robot is composed of one sub-segment and is not subject to twist. In this scenario, the component

is zero and

can be determined so that

is collinear with the normal of the bending plane

using the relation

…”

Section: Static Modellingmentioning

confidence: 99%

Section: Comparison Of Tdcr Models and Guidelinesmentioning

confidence: 99%

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How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance

et al. 2021

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Automatic Tracking of Surgical Instruments with a Continuum Laparoscope Using Data‐Driven Control in Robotic Surgery

Kong

Dong

et al. 2022

Advanced Intelligent Systems

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In existing surgery process, surgeons need to manually adjust the laparoscopes to provide a better field of view (FOV) during operation, which may distract surgeons and slow down the surgery process. Herein, a data‐driven control method that uses a continuum laparoscope to adjust the FOV by tracking the surgical instruments is presented. A Koopman‐based system identification method is first applied to linearize the nonlinear system. Shifted Chebyshev polynomials are used to construct observation functions that transfer low‐dimension observations to high‐dimension ones. The Koopman operator is approximated using a finite‐dimensional estimation method. An optimal controller is further developed according to the trained linear dynamic model. Furthermore, a learning‐based pose estimation framework is designed to detect keypoints on surgical instruments and provides visual feedback for the control system. Compared with other detection methods, the proposed scheme achieves a higher detection precision and provides more optional keypoints for tracking. Simulation and experiments validate the feasibility of the proposed control method. Experimental results show that the proposed method can automatically adjust the field of continuum laparoscope by tracking surgical instruments in real time and satisfy the clinical requirements.

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