Analysis of Twist Deformation in Wire-driven Continuum Surgical Robot

Ji, Daekeun; Kang, Tae Hun; Shim, Seongbo; Hong, Jaesung

doi:10.1007/s12555-018-0400-7

Cited by 17 publications

(9 citation statements)

References 28 publications

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“…In the application of flexible manipulator and continuous robots, the degree of bending is limited, the curvature of MCF is generally within 100m -1 . Therefore, under the above premise, |ω0+ω|≪1/Λ-κ, Taylor expansion is applied to (5), and the following approximate results are obtained:…”

Section: B Bending Twisting-strain Model Based On Twisted Mcfmentioning

confidence: 99%

“…In addition, the external force in the radial direction of the manipulator may cause twisting deformation, which will affect the work of the effector. Therefore, obtaining the position and orientation information of the instrument is the basis for correct manipulation [5]. After implanting MCF into the flexible manipulator, centerline and rotation motion of cross-section are obtained through three-dimensional(3D) curve reconstruction, the position and orientation of MCF can be reconstructed simultaneously, which is a compact and efficient solution.…”

Section: Introductionmentioning

confidence: 99%

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Three-Dimensional Curve Reconstruction Based on Material Frame and Twisted Multicore Fiber

Yang

Tian

et al. 2022

IEEE Photonics J.

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We propose a curve reconstruction model based on material frame and twisted multicore fiber (MCF), which can reconstruct the position and orientation of MCF simultaneously. The twisted MCF is approximated as a ribbon, whose centerline and surface characteristics are used to characterize the position and orientation of MCF. Material frame corresponding to the ribbon is established, and quantitative analysis is realized by the differential equations between frame basis vectors and fiber deformation parameters. Bending, twisting-strain model is established according to the approximate development of the twisted MCF, and the deformation parameters are obtained. Further, position and orientation of MCF can be reconstructed under the interference of twisting deformation. In simulation, the influence of curvature, torsion of target curves and twist bias, twisting deformation of MCF on curve reconstruction is analyzed. The results indicate that the proposed model is applicable to curves with zero curvature and variable curvature. With 10rad/m sinusoidal twisting deformation, the deterioration of reconstruction accuracy can be effectively suppressed by introducing twist bias into MCF. For S-shaped curve with curvature and torsion within 1-50m -1 and -10-10rad/m, the tip position error and tip orientation error are less than 5mm and 5mrad over the length of 1m.

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Section: B Bending Twisting-strain Model Based On Twisted Mcfmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Curve Reconstruction Based on Material Frame and Twisted Multicore Fiber

Yang

Tian

et al. 2022

IEEE Photonics J.

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“…in [4]). However, their low stiffness results in a low precision of tip positioning and a limited payload [5][6][7]. Currently, even if continuum robot operation has been demonstrated in either non-contact [8] or short reach [9] scenarios, no hardware solution offers both a long reach and the capability to physically interact with the environment in precision tasks, as summarized in the scheme in Fig.…”

Section: Introductionmentioning

confidence: 99%

Cooperative Continuum Robots: Enhancing Individual Continuum Arms by Reconfiguring Into a Parallel Manipulator

Russo

Sriratanasak

et al. 2022

IEEE Robot. Autom. Lett.

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Continuum robots are able of in-situ inspection tasks in cluttered environments and narrow passages, where conventional robots and human operators cannot intervene. However, such intervention often requires the robot to interact with the environment, and the low stiffness and payload of continuum robots limits their intervention capabilities. In this paper, we propose a paradigm shift from individual to multiple continuum robots, which can reach the target environment from different paths and then physically connect, reconfiguring into a parallel architecture to enhance precision, stiffness, and payload. The main challenges in modelling and controlling cooperative continuum robots are outlined, and an experimental comparison between individual and cooperating continuum robots that connect through a novel shape-memory-alloy-based clutch highlights the advantages of the proposed technology.

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“…The cable-driven snake-arm robot has been widely used in different fields, such as minimally invasive surgery [ 1 , 2 ], industrial inspection [ 3 , 4 ], and field rescue [ 5 ] in confined environments, since it has significant advantages because of its multi-DOF bending motion. Each segment of the cable-driven snake-arm robot is mainly composed of several identical 1-DOF joints or 2-DOF joints connected in series by multi-side cables.…”

Section: Introductionmentioning

confidence: 99%

Equilibrium Conformation of a Novel Cable-Driven Snake-Arm Robot under External Loads

et al. 2022

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Based on the anti-parallelogram mechanism, an approximate cylindrical rolling joint is proposed to develop a novel cable-driven snake-arm robot with multiple degrees of freedom (DOF). Furthermore, the kinematics of the cable-driven snake-arm robot are established, and the mapping between actuator space and joint space is simplified by bending decoupling motion in the multiple segments. The workspace and bending configurations of the robot are obtained. The static model is established by the principle of minimum potential energy. Furthermore, the simplified cable constraints in the static model are proposed through Taylor expansion, which facilitates the equilibrium conformation analysis of the robot under different external forces. The cable-driven snake-arm robot prototype is developed to verify the feasibility of the robot design and the availability of the static model through the experiments of the free bending motion and the external load on the robot.

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Analysis of Twist Deformation in Wire-driven Continuum Surgical Robot

Cited by 17 publications

References 28 publications

Three-Dimensional Curve Reconstruction Based on Material Frame and Twisted Multicore Fiber

Three-Dimensional Curve Reconstruction Based on Material Frame and Twisted Multicore Fiber

Cooperative Continuum Robots: Enhancing Individual Continuum Arms by Reconfiguring Into a Parallel Manipulator

Equilibrium Conformation of a Novel Cable-Driven Snake-Arm Robot under External Loads

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