A New Solution for the Inverse Kinematics of Concentric-Tube Robots

Wang, Jie; Zhang, Di; Ma, Tao; Song, Shuang; Liu, Wei; Meng, Max Q.-H.

doi:10.1109/cbs.2018.8612283

Cited by 4 publications

(1 citation statement)

References 23 publications

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“…36 Also, each tube has a relative movement with the previous tube, so the end of the robot can reach the desired location depending on these relative motions. 37 There are two main types of CTM. The first type of CTM, with fixed curves, is called" Dominant-Stiffness Tube Pair".…”

Section: Introductionmentioning

confidence: 99%

New continuum surgical robot based on hybrid concentric tube-tendon driven mechanism

Abdel-Nasser

Salah

2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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Robotics technology is used widely in minimally invasive surgery (MIS) which provides high performance and accuracy. The most famous robot arm mechanisms, which are used in MIS, are tendon-driven mechanism (TDM), and concentric tube mechanism (CTM). Unfortunately, these mechanisms until now have some limitations, i.e. making friction with the tissue during extracting and retracting and strain limits, for TDM and CTM respectively. A new hybrid concentric tube-tendon driven mechanism (HCTDM) is proposed to overcome these limitations. HCTDM enables the end-effector to get close to and get away from the surgical area during the operation without harming the tissue and with more flexibility. In addition to that, the workspace increases as a result of this combination, too. This benefit serves MIS, especially endoscopic surgeries (ESs). We did an analytical study of this idea and got the forward kinematics. In the inverse kinematics, an intelligent approach which is called an adaptive neuro-fuzzy inference system (ANFIS) is used because the closed-form solution is more complicated for such these mechanisms. Finally, HCTDM is analyzed and evaluated by using a computer simulation. The simulation results show that the workspace becomes wider and has more dexterity than use TDM or CTM individually. Furthermore, various trajectories are used to test the mechanism and the kinematic analysis, which show the mechanism can follow and track the trajectories with maximum mean error 1.279, 0.7027, and [Formula: see text] for X, Y, and Z axes respectively.

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Section: Introductionmentioning

confidence: 99%