Cooperative Continuum Robots: Concept, Modeling, and Workspace Analysis

Lotfavar, Amir; Hasanzadeh, Shahir; Janabi–Sharifi, Farrokh

doi:10.1109/lra.2017.2759789

Cited by 34 publications

(35 citation statements)

References 26 publications

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“…The development of new natural-based structures of CRs and introducing new configurations of them are still among active research areas in robotics [10]- [13]. Until now, a couple of configurations have been introduced, including single-CRs [14], parallel-CRs [15], Series-CRs [16], and Cooperative-CRs [4].…”

Section: Introductionmentioning

confidence: 99%

“…They also make it possible to form complex cross-sections, which consequently result in boosted performance in doing more complicated tasks [23]. Another alternative is cooperative-CRs (CCRs) [4] as shown in Fig. 1.…”

Section: Introductionmentioning

confidence: 99%

“…In this paper, as our first contribution, we extend some of the ideas in [4] to full-kinematic modeling of Target-assist CCRs. The model developed in our previous paper considers a special case of cooperation in which the Target-CR is bent first, and then the cooperation is formed.…”

Section: Introductionmentioning

confidence: 99%

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Jacobian Formulation for Two Classes of Cooperative Continuum Robots

Norouzi-Ghazbi¹,

Mehrkish²,

Janabi–Sharifi³

2020

Progress in Canadian Mechanical Engineering. Volume 3

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Continuum robots (CRs) are an important class of robots inspired by the biological counterparts. Recently, a new paradigm of using multiple CRs, under cooperative continuum robots (CCRs), has been introduced to increase the performance of CRs. The motivation behind this work is to provide a detailed discussion on the concept of CCRs and a detailed description of its two different sub-configurations, including Co-manipulative and Target-assist CCRs. This paper also presents kinematic modeling and Jacobian derivation of these two sub-configurations. It has been shown that kinematics of Co-manipulative CCRs could be well estimated using the DH approach; while, for deriving kinematics of the second subconfiguration, a combination of DH approach and an exact kinematic modeling approach, using Cosserat rod theory, has to be used. The obtained Jacobians could be used for control purposes and CR-based grasp synthesis.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Jacobian Formulation for Two Classes of Cooperative Continuum Robots

Norouzi-Ghazbi¹,

Mehrkish²,

Janabi–Sharifi³

2020

Progress in Canadian Mechanical Engineering. Volume 3

Self Cite

View full text Add to dashboard Cite

show abstract

“…3 Another type is active catheter, which has a function of controllable bending motion. 4,5 In order to obtain high precision and functionality, micro-electromechanical systems, shape memory alloy coil actuators, artificial muscle actuators are proposed and developed. [6][7][8] These devices have promising potential to provide attractive characteristics, such as large strain, low operation voltage and miniaturization.…”

Section: Introductionmentioning

confidence: 99%

“…Obviously, manipulating long flexible instruments with limited access to the anatomical site requires high skillful and experienced doctors 3 . Another type is active catheter, which has a function of controllable bending motion 4,5 . In order to obtain high precision and functionality, micro‐electromechanical systems, shape memory alloy coil actuators, artificial muscle actuators are proposed and developed 6–8 .…”

Section: Introductionmentioning

confidence: 99%

Experimental investigation of a twisted string actuation for usage in active catheter

Yan

Wang

et al. 2020

Robotics Computer Surgery

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Background: The improvement of the steerability and controllability of catheters is highly required because catheter-based interventional diagnosis and therapy have become increasingly popular. However, active catheters are often complex and expensive. Methods: This study attempts to control catheter tip by a twisted string actuator. Experiments are carried out to analyze the full actuation and bending characteristics of the active catheter. Results: It is indicated that the expected bending motion can be achieved by twisting the strings. Hysteresis behavior in backward and forward motion is also discussed. High repetitive positional accuracy and reverse position accuracy can be obtained when the number of rotation is low. When the number of turns is 25, the maximum tip position errors are 4, 1.8 and 1 mm in X, Y and Z directions, respectively. Conclusion: It is expected that the presented method will prove useful for the application of twisted string active catheter.

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A Cooperative and Multifunctional Magnetic Continuum Robot for Noninteractive Access, Dexterous Navigation, and Versatile Manipulation

Yang,

Mao,

Tian

et al. 2024

Adv Funct Materials

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Soft continuum robots can navigate through narrow and tortuous lumina. However, its interactions with the lumina during steering pose a risk of luminal injuries, especially if it integrates multifunctional units, which increase both the robot's size and local stiffness. Therefore, a continuum robot comprising coaxially assembled Guider and Follower components is designed that utilize phase change materials for noninteractive navigation and versatile manipulation. Navigation occurs through alternating softening‐hardening cycles: First, the Guider softens and advances under magnetic steering while the rigid Follower provides support. Then, the Guider solidifies to form a new backbone as the Follower softens to replicate its path. This process maintains structural integrity while enabling navigation along desired trajectories, thereby greatly reducing interactions with the lumen. To further accomplish complex tasks in large and open spaces, a continuum robot system with a triple‐individual Guider is developed in which the multi‐degree‐of‐freedom movement of the individuals is precisely and sequentially controlled through segmented stiffness regulation. This configuration achieves versatile manipulation, including targeted delivery, precision coating, grasping, and obstacle clearing in complex environments. Combining cooperative movement and diverse functionalities, this continuum robot design offers a new approach to dexterous navigation and intervention in minimally invasive surgical procedures.

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Cooperative Continuum Robots: Concept, Modeling, and Workspace Analysis

Cited by 34 publications

References 26 publications

Jacobian Formulation for Two Classes of Cooperative Continuum Robots

Jacobian Formulation for Two Classes of Cooperative Continuum Robots

Experimental investigation of a twisted string actuation for usage in active catheter

A Cooperative and Multifunctional Magnetic Continuum Robot for Noninteractive Access, Dexterous Navigation, and Versatile Manipulation

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