Active compliance and force estimation of a continuum surgical manipulator based on the tip-pose feedback

Wu, BaiBo; Zhou, Chang; Wang, Xiang; Sun, DaWei; Xu, Kai

doi:10.1007/s11431-023-2422-6

Cited by 2 publications

(1 citation statement)

References 33 publications

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“…For example, prevalent research in active compliance and force sensing depends on force sensors located at either the proximal or distal extremities of robots, which complicates the system. Wu et al [ 294 ] introduced a novel approach, utilizing tip‐pose feedback for active compliance and force estimation, thereby obviating the need for supplementary sensors apart from an endoscopic camera. In some scenarios, a single‐continuum robot might prove insufficient for task completion, necessitating the orchestration of multiple such robots.…”

Section: State‐of‐the‐art Continuum Robotics Technology For Endoscopi...mentioning

confidence: 99%

Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

Huang,

Shi,

Gao

et al. 2023

Advanced Intelligent Systems

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In this study, an innovative exploration of leveraging bionics and continuum robotics principles to develop a novel solution for arthroscopic surgery is embarked on. Inspired by the flexibility and adaptability of organisms like snakes and octopuses, the continuum robot concept aims to address the inherent challenges in traditional arthroscopy, including lower precision, manual tremors, and long surgeon learning curves. The implementation of these principles in the human body, however, faces significant obstacles, particularly achieving high‐performance motion control amid strong nonlinearity and coupling between modules. This research focuses on intelligent integration and enhanced safety in human‐machine interaction, aiming for improved control precision and flexibility in arthroscopic procedures. A thorough literature review of endoscopic continuum robots is conducted, highlighting current advancements in actuation, structure, sensing, and control technologies. The study concludes with an assessment of these technologies, their limitations, and future potential, in light of the unique demands of arthroscopic continuum robots. This comprehensive review bridges bionics and robotics, presenting the opportunities and challenges in applying continuum robotics to arthroscopic surgery. The goal is to encourage further research in this area, contributing to the development of prototype robots that enhance the precision and safety of arthroscopic surgery.

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Section: State‐of‐the‐art Continuum Robotics Technology For Endoscopi...mentioning

confidence: 99%

Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

Huang,

Shi,

Gao

et al. 2023

Advanced Intelligent Systems

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Design and force-position-model fusion control of a hybrid active and passive cable cluster-driven hyper-redundant space manipulator

LIANG,

HUANG,

LIU

et al. 2024

Sci. Sin.-Tech.

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Active compliance and force estimation of a continuum surgical manipulator based on the tip-pose feedback

Cited by 2 publications

References 33 publications

Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

Design and force-position-model fusion control of a hybrid active and passive cable cluster-driven hyper-redundant space manipulator

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