Extensible and Compressible Continuum Robot: A Preliminary Result

Su, Baiquan; Tang, Jie; Kuang, Shaolong; Jin, Mengdi; Wu, Huayue; Liu, Liaoliao; Líu, Hao; Wang, Jianbo; Sun, Huali; Lam, Lam; Li, Yuejia

doi:10.1109/wrc-sara.2019.8931916

Cited by 12 publications

(9 citation statements)

References 20 publications

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“…Spring backbone robots are mainly fabricated using two types of helical springs, compression springs [123,154,155] and extension springs [156]. In most designs, the spring serves as an alternative to an elastic backbone medium.…”

Section: Spring Backbonementioning

confidence: 99%

“…Springs have been opted for when the application requires a lengthier robot that can be compactly packed [125,149]. When translational motion is in place in other words, axial compression or extension is required, and all the tendons of a particular section are pulled or released synchronously by the same amount, so that a compression or extension of the spring backbone is achieved [154][155][156].…”

Section: Spring Backbonementioning

confidence: 99%

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Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Uthayasooriyan,

Vanegas,

Jalali

et al. 2024

Drones

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Aerial manipulators have seen a rapid uptake for multiple applications, including inspection tasks and aerial robot–human interaction in building and construction. Whilst single degree of freedom (DoF) and multiple DoF rigid link manipulators (RLMs) have been extensively discussed in the aerial manipulation literature, continuum manipulators (CMs), often referred to as continuum robots (CRs), have not received the same attention. This survey seeks to summarise the existing works on continuum manipulator-based aerial manipulation research and the most prevalent designs of continuous backbone tendon-driven continuum robots (TDCRs) and multi-link backbone TDCRs, thereby providing a structured set of guidelines for fabricating continuum robots for aerial manipulation. With a history spanning over three decades, dominated by medical applications, CRs are now increasingly being used in other domains like industrial machinery and system inspection, also gaining popularity in aerial manipulation. Fuelled by diverse applications and their associated challenges, researchers have proposed a plethora of design solutions, primarily falling within the realms of concentric tube (CT) designs or tendon-driven designs. Leveraging research works published in the past decade, we place emphasis on the preparation of backbones, support structures, tendons, stiffness control, test procedures, and error considerations. We also present our perspectives and recommendations addressing essential design and fabrication aspects of TDCRs in the context of aerial manipulation, and provide valuable guidance for future research and development endeavours in this dynamic field.

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Section: Spring Backbonementioning

confidence: 99%

Section: Spring Backbonementioning

confidence: 99%

Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Uthayasooriyan,

Vanegas,

Jalali

et al. 2024

Drones

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“…In terms of motion planning, due to the need for endoscopic surgery in narrow and irregular environments, FTL is the mainstream motion planning method in current research. [54,283,292,293] Depending on the specific application requirements, three control patterns, autonomous, [54,249,282,283] master-slave, [268,278,290] and shared control, [49][50][51]280,281] have been applied. To improve motion planning efficiency in unstructured environments, Kuntz et al [295] introduced a method that integrates sampling-based motion planning with local optimization.…”

Section: Control and Navigationmentioning

confidence: 99%

“…To reduce the computational complexity of control models, most research studies have used order-reduced modal models, such as PCC, CC, D-H, and other models. [53,54,249,268,272,278,[290][291][292][293] However, research that utilizes models like the Cosserat rod model [49][50][51]284] achieves high computational complexity, resulting in lower control accuracy and real-time performance. With the emergence of learningbased methods, data-driven models, as used in refs.…”

Section: Control and Navigationmentioning

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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“…In this paper, based on our previous experience in neurosurgical field and the resultant systems [26]- [30], we design a novel biopsy tool that comprises a needle and an actuation system, and it implements a single insertion to obtain Multiple Samples in multiple desired points along the needle tube with Multiple Spoons (MS-MS). This is the first biopsy tool that is explicitly created for studying intratumor heterogeneity.…”

Section: Introductionmentioning

confidence: 99%

A Position-Adjustable Multi-Point Synchronizing Biopsy Tool for Intratumor Heterogeneity: A Proof-of-Principle Study

Liu

Shi

et al. 2020

IEEE Access

Self Cite

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A biopsy needle is a tool employed to fetch a portion of tissue at a point in the volume of diseased tissue, i.e., a Single Sample with a Single Spoon (SS-SS). Using this tool, the pathological status of the unhealthy tissue is generally represented by that of the specimen. However, for the tumor growing heterogeneously, like brainstem glioma, its inner constituent is heterogeneous. Therefore, the histological status of the specimen cannot precisely represent that of other points except the sampled point itself. The common principle of the existing solutions to this problem is to design the needle that fulfills biopsy operation by obtaining Multiple Samples with a Single Spoon at different points (MS-SS). The drawback of the designs following this principle is that during one biopsy operation, the latter samples are contaminated by their formers. The reason for the shortcoming is that the same spoon grabs all samples. To solve this problem, we design a novel biopsy tool that implements a single insertion to obtain Multiple Samples in multiple desired points with Multiple Spoons (MS-MS). The detailed system structure design, the motion procedure of the needle spoon, and the critical stress on the crucial mechanical parts are explicitly presented. Experiments using a built prototype is carried out on agar phantom and ex vivo porcine tissue, respectively. The results demonstrate the feasibility of the novel position-adjustable multi-point synchronizing biopsy tool for investigating intratumoral heterogeneity. INDEX TERMS Biopsy needle, intratumor heterogeneity, synchronizing biopsy, multiple samples, minimally invasive surgery.

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Extensible and Compressible Continuum Robot: A Preliminary Result

Cited by 12 publications

References 20 publications

Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

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

A Position-Adjustable Multi-Point Synchronizing Biopsy Tool for Intratumor Heterogeneity: A Proof-of-Principle Study

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