An experimental kinestatic comparison between continuum manipulators with structural variations

Xu, Kai; Fu, Minxiao; Zhao, Jiangran

doi:10.1109/icra.2014.6907327

Cited by 25 publications

(10 citation statements)

References 19 publications

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“…A generic DCM (Figure 6a) consists of the DS-1 (distal segment #1), the DS-2 (distal segment #2) (Figure 6b PS-2 (proximal segment #2) ( Figure 6c) and a set of rigid guiding cannulae (31). The DS-1 consists of a base ring, a few spacer rings, an end ring, and several backbones that are super-elastic nitinol rods.…”

Section: Dual Continuum Mechanismmentioning

confidence: 99%

Surgical robots for SPL and NOTES: A review

Zhao

Feng

Zheng

et al. 2015

Minimally Invasive Therapy & Allied Technologies

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Regarding the structure aspect, the reviewed systems for SPL and NOTES all deploy a vision unit and at least two manipulation arms for surgical interventions through an access channel. To date, the smallest diameter of such a channel is 12 mm. Regarding the functionality aspect, only a few systems demonstrated results promising enough for animal or clinical studies in the near future. Surgical robots using dual continuum mechanisms achieved both design compactness and functional versatility. The characteristics suggest that the use of continuum mechanisms is worth exploring through future developments of surgical robots.

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Section: Dual Continuum Mechanismmentioning

confidence: 99%

Surgical robots for SPL and NOTES: A review

Zhao

Feng

Zheng

et al. 2015

Minimally Invasive Therapy & Allied Technologies

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“…Invasive surgery mainly relies on surface interaction anatomy and imagining [42,43]. A transition has done between firm endoscopes providing high visualization and flexibility using bending tips at lower visualization [44].…”

Section: Literature Workmentioning

confidence: 99%

Joint Space Redundancy Resolution of Serial Link Manipulator: An Inverse Kinematics and Continuum Structure Numerical Approach

Jain

Roy

2020

Preprint

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Automatic control to any of robot manipulators, some kind of issues are being observed. A numerical method for solution generation to the inverse kinematics problem of redundant robotic manipulators is presented to obtain the smoothest algorithm as possible, leading to a robust iterative method. After the primary objective of the reachability of end-effectors to the target point is achieved, the aim is set to resolve the redundant degrees of freedom of redundant manipulator. This method is numerically stable since it converges to the correct answer with virtually any initial approximation, and it is not sensitive to the singular configurations of the manipulator. In addition, this technique is computationally effective and able to apply for serial manipulators with any DOF applications. A planar 3R-DOF serial link redundant manipulator is considered as exemplar problem for solving. Also, the continuum approach for resolving more complex structure with variable DoF is illustrated here and their brief applicability to support surgeries and adaptive use of artificial linkage moments is also calculated.

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“…The concept of the dual continuum mechanism is hence adopted as shown in Figure 5. The concept was originally introduced in (Xu et al, 2014(Xu et al, , 2015. The Segment 1 in Figure 5 actually consists of the 1st distal segment, the 1st proximal segment and a set of rigid guiding tubes.…”

Section: Central Lumen and The Dual Continuum Mechanismmentioning

confidence: 99%

Development of a dexterous continuum manipulator for exploration and inspection in confined spaces

Liu¹,

Yang

Zhu

et al. 2016

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Purpose Slim and dexterous manipulators with long reaches can perform various exploration and inspection tasks in confined spaces. This paper aims to present the development of such a dexterous continuum manipulator for potential applications in the aviation industry. Design/methodology/approach Benefiting from a newly conceived dual continuum mechanism and the improved actuation scheme, this paper proposes a design of a slim and dexterous continuum manipulator. Kinematics modeling, simulation-based dimension synthesis, structural constructions and system descriptions are elaborated. Findings Experimental validations show that the constructed prototype possesses the desired dexterity to navigate through confined spaces with its kinematics calibrated and actuation compensation implemented. The continuum manipulator with different deployed tools (e.g. graspers and welding guns) would be able to perform inspections and other tasks at remote locations in constrained environments. Research limitations/implications The current construction of the continuum manipulator possesses quite some friction inside its structure. The bending discrepancy caused by friction could accumulate to an obvious level. It is desired to further reduce the friction, even though the actuation compensation had been implemented. Practical implications The constructed continuum manipulator could perform inspection and other tasks in confined spaces, acting as an active multi-functional endoscopic platform. Such a device could greatly facilitate routine tasks in the aviation industry, such as guided assembling, inspection and maintenance. Originality/value The originality and values of this paper mainly lay on the design, modeling, construction and experimental validations of the slim and dexterous continuum manipulator for the desired mobility and functionality in confined spaces.

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An experimental kinestatic comparison between continuum manipulators with structural variations

Cited by 25 publications

References 19 publications

Surgical robots for SPL and NOTES: A review

Surgical robots for SPL and NOTES: A review

Joint Space Redundancy Resolution of Serial Link Manipulator: An Inverse Kinematics and Continuum Structure Numerical Approach

Development of a dexterous continuum manipulator for exploration and inspection in confined spaces

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