Kinematic comparison of surgical tendon-driven manipulators and concentric tube manipulators

Li, Zheng; Wu, Liao; Ren, Hongliang; Yu, Haoyong

doi:10.1016/j.mechmachtheory.2016.09.018

Cited by 158 publications

(75 citation statements)

References 48 publications

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“…Robots are mechanical devices that are automatically controlled and can be programmed to carry out [6,49,95,[146][147][148]. Once these robotic concepts are matured in medical applications, they can also be adapted in many industrial applications.…”

Section: Industrial Roboticsmentioning

confidence: 99%

Recent developments in fibre optic shape sensing

et al. 2018

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This paper presents a comprehensive critical review of technologies used in the development of fibre optic shape sensors (FOSSs). Their operation is based on multi-dimensional bend measurements using a series of fibre optic sensors. Optical fibre sensors have experienced tremendous growth from simple bend sensors in 1980s to full three-dimensional FOSSs using multicore fibres in recent years. Following a short review of conventional contact-based shape sensor technologies, the evolution trend and sensing principles of FOSSs are presented. This paper identifies the major optical fibre technologies used for shape sensing and provides an account of the challenges and emerging applications of FOSSs in various industries such as medical robotics, industrial robotics, aerospace and mining industry.

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Section: Industrial Roboticsmentioning

confidence: 99%

Recent developments in fibre optic shape sensing

et al. 2018

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“…The surgical flexible manipulators can typically be classified into tendon-driven continuum manipulators (TCMs) with active or passive continuum backbones, and tendon-driven serpentine manipulators (TSMs) with only discrete joint or segments. A comprehensive literature review regarding the hyper-redundant flexible manipulators can be found in Li et al 2017. A comparison Table 1 shows the different properties, i.e., their diameter, DOF, achievements and procedures done of selected representative robotic systems.…”

Section: Related Workmentioning

confidence: 99%

Design analysis and bending modeling of a flexible robot for endoscope steering

Tan

Ren

2017

Int J Intell Robot Appl

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Robot assisted endoscopic system with navigation functionalities is emerging as a pivotal role for improving the clinician's performance in minimally-invasive surgeries, particularly through natural orifices or single incision. This article investigates a new sleeve robot design that is able to achieve flexible bending manoeuvrability to the endoscope, which is to be used surgically in the tight and irregular spaces within the human body. It is based on the concept of the distal dexterity unit and we are using multiple spring support units instead of backbones. The characteristics of a spring are exploited in this design to provide more orientations and positioning of the end-effector with increased manoeuvrability and without involving manual reconfiguration of the shape of the instrument. Design analysis and bending motion model are investigated during the system development. The finished prototype of the robotic system is able to achieve five degree of freedoms through the actuation of the proposed method. The proposed system is validated by prototype development and experiments.

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“…One of the main downsides of tele-operated robot is the requirement of large amounts of training and practising in order to achieve accurate performance in the tasks. Especially for the delicate minimally invasive surgery using the tele-surgical robot within a confined space [2]- [3], those psychological and physical workloads may lead to increased failure rate in several significant aspects of the operation. In order to address this shortage and simultaneously improve the operational accuracy, the autonomous mode that performing certain tasks automatically by the teleoperation system itself has been investigated [4].…”

Section: Introductionmentioning

confidence: 99%