Construction of Controller Model of Notch Continuum Manipulator for Laryngeal Surgery Based on Hybrid Method

Wang, Haodong; Wang, Xiaolong; Yang, Wenlong; Du, Zhijiang; Yan, Zhiyuan

doi:10.1109/tmech.2020.3015133

Cited by 27 publications

(7 citation statements)

References 42 publications

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“…Therefore, classical Denavit-Hartenberg (D-H) kinematics modeling can be used. This method has also been used to approximate kinematic modeling of some continuum medical robots [24], [236], [237].…”

Section: B Modeling and Controlmentioning

confidence: 99%

Advancement of Flexible Robot Technologies for Endoluminal Surgeries

et al. 2022

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Section: B Modeling and Controlmentioning

confidence: 99%

Advancement of Flexible Robot Technologies for Endoluminal Surgeries

et al. 2022

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“…Regarding the mechanical modeling of CRs, Cosserat rod method, principal of virtual work, Beam theory, and Lagrange dynamics are the most mechanical models that have been used in different studies [46]. These models can be used as part of conventional hybrid/discrete modeling methods [47], [48] or uniform continuum modeling approaches [33]. In this tutorial, to perform the dynamic analysis, we implemented Cosserat rod [49] to model each continuum arm.…”

Section: Dynamic Model Of the Crsmentioning

confidence: 99%

Cosserat Rod-Based Dynamic Modeling of Tendon-Driven Continuum Robots: A Tutorial

2021

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This article provides a tutorial on the dynamic modeling of continuum robots. Continuum robots (CRs) have gained popularity in recent years due to their flexible backbone structure. Modeling and control of CRs motivate accurate and efficient dynamic models. Such models will enable simulation of dynamic behavior, improved structural design, and the development of dynamics-based control systems for CRs. As a unified underlying approach, the Cosserat rod-based modeling of tendon-driven CRs is used as the basis of the modeling techniques discussed in this paper. In addition to conventional continuum robot assemblies, new and emerging assemblies such as tendon-bent concentric tube and co-operative robots are also considered. The governing equations of motion for conventional CRs are first summarized and then extended for other tendon-driven CRs. This tutorial also contributes to developing a MATLAB code package for simulation of the dynamic response of these robots. The presented method and codes provide a useful and compact resource for readers and can be used for further development of tendon-driven continuum robots.

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“…BCMs are replacing conventional rigid robots in specific fields where versatility and safety of human-robot interaction are prioritized over speed and positional accuracy [4]. Since continuum manipulators are highly dexterous, they are used in cluttered environments and delicate applications such as invasive medical surgery [5],…”

Section: Introductionmentioning

confidence: 99%