A novel inverse kinematics algorithm using the Kepler oval for continuum robots

Lu, Jiajia; Du, Fuxin; Li, Yibin; Lei, Yanqiang; Zhang, Tao; Zhang, Gang

doi:10.1016/j.apm.2020.12.014

Cited by 17 publications

(5 citation statements)

References 28 publications

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“…Such devices typically utilize a continuous or articulated central structure for axial stiffness and drive cables for lateral bending actuation [22]. Examples include continuum structures with articulated ball and socket joints [23][24][25] or flexible central beams [26], origami-based graspers [27], and concentric tube mechanisms [28,29]. While concentric tube mechanisms provide excellent axial stiffness and navigational precision, they are generally not capable of large bending deflections and lack a sufficiently large central lumen to route the transducer's large number of electrical conductors.…”

Section: Probe Actuationmentioning

confidence: 99%

Design Optimization and Tradeoff Analysis of an Actuated Continuum Probe for Pulmonary Nodule Localization and Resection

McCullough,

Muller,

Egan

et al. 2024

Bioengineering

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Pulmonary nodules are abnormal tissue masses in the lungs, typically less than 3.0 cm in diameter, commonly detected during imaging of the chest and lungs. While most pulmonary nodules are not cancerous, surgical resection may be required if growth is detected between scans. This resection is typically performed without the benefit of intraoperative imaging, making it difficult for surgeons to confidently provide appropriate margins. To enhance the efficacy of wedge resection, researchers have developed a modified ultrasound imaging approach that utilizes both multiple scattering (MS) and single scattering (SS) to enhance the accuracy of margin delineation. Clinical deployment of this novel ultrasound technology requires a highly maneuverable ultrasound probe, ideally one that could be deployed and actuated with minimal invasiveness. This study details the design optimization and tradeoff analysis of an actuated continuum probe for pulmonary nodule localization and resection. This device, deployed through intercostal ports, would enable the intraoperative imaging and precise mapping of nodules for improved margin delineation and patient outcomes. To achieve this objective, multiple objective genetic algorithms (MOGAs) and a design of experiments (DOE) study are used to explore the design space and quantify key dimensional relationships and their effects on probe actuation.

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Section: Probe Actuationmentioning

confidence: 99%

Design Optimization and Tradeoff Analysis of an Actuated Continuum Probe for Pulmonary Nodule Localization and Resection

McCullough,

Muller,

Egan

et al. 2024

Bioengineering

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“…In our previous work, the forward and inverse kinematics of the continuum manipulator has been studied. [21][22][23] Here, the axial angle method is used to model the continuum arm.…”

Section: Modelling Of Continuum Armmentioning

confidence: 99%

“…In Formula (23), d req.min is the diameter of the spherical workspace for medical requirements. The combination of Formula ( 22) and (23) gives Formula (24). Formula (24) defines the upper limit of the deployment distance of the deployable arm.…”

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confidence: 99%

Development of a novel deployable arm for natural orifice transluminal endoscopic surgery

Lei

Song

et al. 2021

Robotics Computer Surgery

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Background Natural orifice transluminal endoscopic surgery (NOTES) is aided by the instrument channel of an endoscope. Limited by the diameter of the endoscope, the construction of the operation triangle is affected. This paper presents a deployable arm that can increase the distance between the arms. Methods The manipulation arm is composed of a continuum arm and a deployable arm. The deployable arm can be locked by a stay cable and a mechanical structure. The angle between the end‐effectors and the common workspace of the two manipulation arms are comprehensively analysed. Through experiments, the design parameters are validated and justified. Results The experiment shows that the deployment arm can maintain the deformation within 3.5 mm under a 300 g load, and the angle between the two end‐effectors can be maintained within the range of [88°, 110°]. Conclusions The novel deployment arms enlarge the angle between the end effectors, which significantly improves the flexibility of the arms.

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“…In Thuruthel et al, 21 a learning-based approach is proposed to solve the IKM of continuum bionic robots; the advantage of this method is its ability to solve the IKM without knowing any prior information of the system. In Jiajia et al, 22 a new method called ''Kepler oval'' which identifies the workspace of the CR through the calculation of FKM, and then it establishes the IKM through a binary equation, and one of the binary equation's solution can be considered as the IKM solution for a given position of the robot's end effector. For modeling the approximate behavior of the Compact Bionic Handling Assistant (CBHA) manipulator, Melingui et al 23 have applied the feedforward neural networks to approximate the IKM of a continuum manipulator by training the robot based on the FKM.…”

Section: Introductionmentioning

confidence: 99%

Inverse kinematic model of multi-section continuum robots using particle swarm optimization and comparison to four meta-heuristic approaches

Djeffal

Mahfoudi

2023

SIMULATION

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Multi-section continuum robots’ (CRs) behavior is still an outstanding problem because of the highly non-linearity of its equation of motions. To this end, in this paper, particle swarm optimization (PSO) is adopted to solve the inverse kinematic model (IKM) of CRs. First, the CR’s structure is properly described. Then, the aforementioned algorithm is elaborately discussed and implemented in figuring out the IKM of CR and verified through forward kinematic model by choosing the PSO parameters, namely, cognitive factors [Formula: see text] and inertia weight [Formula: see text] for 200 positions on an arc-like trajectory. The optimal angle values ([Formula: see text] and [Formula: see text]) which ensure the lowest distance between the attainably desired position and the robot’s end effector are [Formula: see text] which is perfectly accurate. After that, simulation through MATLAB is carried out, namely, in the first simulation, a three-section CR follows a linear trajectory with a precision approximately equal to [Formula: see text]. Furthermore, PSO takes 7 ms as a mean consumption time to make the robot’s end effector attain to each position. Then, a circular trajectory is followed using PSO. Comparatively speaking, PSO is compared with four meta-heuristic approaches; it is remarked that PSO is a good compromise between accuracy and time consumption. Based on the obtained results, PSO can be considered as a trade-off between accuracy and time consumption for solving the IKM of CRs with complex structure.

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A novel inverse kinematics algorithm using the Kepler oval for continuum robots

Cited by 17 publications

References 28 publications

Design Optimization and Tradeoff Analysis of an Actuated Continuum Probe for Pulmonary Nodule Localization and Resection

Design Optimization and Tradeoff Analysis of an Actuated Continuum Probe for Pulmonary Nodule Localization and Resection

Development of a novel deployable arm for natural orifice transluminal endoscopic surgery

Inverse kinematic model of multi-section continuum robots using particle swarm optimization and comparison to four meta-heuristic approaches

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