Jacobian Formulation for Two Classes of Cooperative Continuum Robots

Norouzi-Ghazbi, Somayeh; Mehrkish, Ali; Janabi–Sharifi, Farrokh

doi:10.32393/csme.2020.1279

Cited by 6 publications

(3 citation statements)

References 18 publications

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“…Recently, cooperative CRs were introduced in [41], [70], [76]. They consist of a set of CRs that do not necessarily have common fixed bases with predetermined positions, and the relative position of links is not constrained (Fig.…”

Section: (D))mentioning

confidence: 99%

Grasp Taxonomy and Grasp Synthesis of Continuum Robots

Mehrkish

2024

Preprint

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<p>Continuum robots (CRs) have been the subject of intensive researches in recent years because of the wide range of their potential applications. One main domain of application is CR-based grasp, which needs studying grasp taxonomy and grasp synthesis. Despite the importance of these two topics for robotic operations, their concepts for CRs remain to be investigated. The first contribution of this thesis is to present a comprehensive CR-based grasp taxonomy. Grasp taxonomy is a systematic arrangement of space of grasps. For this purpose, different types of CR-based grasp tasks are overviewed. Also, different types of contact shapes between CRs and objects are classified. Finally, existing CR-based grasp configurations in the CR-related literature are compared and classified into a novel taxonomy through a 3-step methodology. Based on this study, nine major grasp families in the field of CRs are introduced, which include 21 sub-grasp types. Then, the taxonomy is enriched by different analyses of CR-based grasp families. Finally, to study the feasibility of the grasp taxonomy, an experimental case of a small-sized CR is investigated. The second contribution of this thesis is to introduce the formulation of CR-based grasp synthesis. Grasp synthesis is the process of determining the CR configuration and contact points on the target object to acquire suitable grasp properties. In this thesis, a synthesis approach relying on an analytical model of CR-based grasp is proposed. The grasp quality measures, which are key to the grasp selection, are formulated based on grasp and CR Jacobian matrices. The Jacobian matrix for CRs is obtained through piecewise constant-curvature modeling and by Cosserat rod-based models, each providing certain advantages. Besides, to reflect the limited workspace of CRs, a new quantitative grasp quality measure is proposed. Also, two experimental grasp quality measures (i.e., path following error and grasp success rate) are introduced to compare and assess the grasps. Then, the effectiveness of the synthesis algorithms is shown through extensive numerical examples and experiments, using single-segment tendon-driven catheters. Moreover, as a requirement for experimental verifications, an experimental set-up for the automation of CRs is developed in collaboration with other researchers in the lab.</p>

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Section: (D))mentioning

confidence: 99%

Grasp Taxonomy and Grasp Synthesis of Continuum Robots

Mehrkish

2024

Preprint

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“…Figure 1. A breakdown of a catheter to its distal and proximal ends [23]. ID 302 -Mechatronics, robotics and controls symposium In this paper, a single section of a surgical tendon-driven catheter is selected as a case study to investigate the feasibility of CR-based taxonomy.…”

Section: B Small-sized Continuum Robots -Potentialmentioning

confidence: 99%

Experimental evaluation of a small-sized continuum robot for grasping tasks

Mehrkish,

Janabi-Sharifi

2023

Progress in Canadian Mechanical Engineering. Volume 6

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This paper investigates the use of the catheter, which is a small-sized continuum robot (CR) in medical operations. For this purpose, a recently developed general taxonomy for continuum robots is selected as the base of the classification, entitled "CR-based Taxonomy". This taxonomy serves to establish a common language and means of comparing the types of grasps achievable by the catheters. Then, different grasp taxonomy analyses, including grasp adaptability, grasp stability, and properties of manipulated objects and tasks enabled by the "CR-based Taxonomy" is studied to investigate the feasibility of the taxonomy for an experimental case of a small-sized CR. This work lays the groundwork for further detailed study of catheter use, and the taxonomy analyses may help medical device developers to create improved instruments.

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“…Moreover, reducing the assembly time and weight of the device, and increasing the adaptability of the RACS to a broader range of catheters is of interest. The applications of Althea II are twofold, (1) development of the set-up for clinical applications with a main focus on catheter-based cardiovascular interventions, and (2) being served as a test-bed for some of the hot research areas in the field including modeling verifications, 15 implementation of various control systems, 16,17 simultaneous control of some catheters cooperating on a defined task, 18 object manipulation, and grasp analysis. To this end, we proposed a novel design for Althea II and enhanced the GUI by both development of a strong tip-detection algorithm and adding more operational functions.…”

Section: Introductionmentioning

confidence: 99%

Design and experimental evaluation of an automated catheter operating system

et al. 2021

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Manual catheter‐based interventions (CBIs) suffer from exposure of the interventionalists to X‐ray, and dependence of their performance on the expertise and fatigue level of the interventionalists. Robot‐assisted catheterization systems (RACS) have been introduced in recent years to improve the efficiency of CBIs; however, using them is still associated with some difficulties such as set‐up dependency to a specific type of intervention instrument, not being portable, and offering limited options of operation modes. The objective of this research is to develop a new RACS to address these shortcomings. We propose Althea II as an improvement for our previously introduced RACS, Althea I. Althea II is designed for both research purposes and clinical applications including catheter‐based cardiovascular interventions. Althea II benefits from a novel structural design leading to a significantly reduced weight and making the device inclusive for a broader range of intervention instruments. Also, a tip detection algorithm is developed and integrated into the graphical user interface (GUI) to enable image‐based navigation, and accordingly, fully automatic navigation. Althea II has improved the outcome of catheter‐based interventions by increased accuracy and precision of the intervention. The system can navigate the catheter tip to a designated target with an accuracy higher than 90% in both velocity and positioning mode. The device is associated with an upgraded GUI equipped with a strong tip detection algorithm with an accuracy of 0.05 mm. Moreover, Althea II gains from a quicker assembly time (20 minutes, which equals five times faster). The independency from specific catheters, several modes of function, an imaged‐based feedback control, portability, and a remote function should allow operation even from beginners and reduce X‐ray exposure. The preliminary research studies verified the accuracy and repeatability of Althea II, demonstrated the feasibility and applicability of using the set‐up in multiple applications, and highlighted the improved set‐up capabilities over the currently available RACS.

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Jacobian Formulation for Two Classes of Cooperative Continuum Robots

Cited by 6 publications

References 18 publications

Grasp Taxonomy and Grasp Synthesis of Continuum Robots

Grasp Taxonomy and Grasp Synthesis of Continuum Robots

Experimental evaluation of a small-sized continuum robot for grasping tasks

Design and experimental evaluation of an automated catheter operating system

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