Anisotropic Patterning to Reduce Instability of Concentric-Tube Robots

Lee, Dae-Young; Kim, Jong-Woo; Kim, Ji-Suk; Baek, Changyeob; Noh, Gunwoo; Kim, Do-Nyun; Kim, Keri; Kang, Sungchul; Cho, Kyu-Jin

doi:10.1109/tro.2015.2481283

Cited by 43 publications

(8 citation statements)

References 31 publications

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“…For problems restricted to two dimensions, setups with one camera are employed. The extraction of relevant points is done manually [34], by image processing of deliberately placed optical markers [35] or directly from cannula features [36,37]. Using a stereo camera system to detect fiducial markers on the surface of a tube by manually selecting them in both images seems to be the first and often employed approach for tube shape measurement in 3D [4,[38][39][40].…”

Section: Cannula Position Detectionmentioning

confidence: 99%

On the influence of pseudoelastic material behaviour in planar shape-memory tubular continuum structures

Greiner-Petter

Sattel

2017

Smart Mater. Struct.

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For planar tubular continuum structures based on precurved shape memory alloy tubes a beam model with respect to the pseudoelastic material behaviour of NiTi is derived. Thereunto a constitutive material law respecting tension-compression asymmetry as well as hysteresis is used. The beam model is then employed to calculate equilibrium curvatures of concentric tube assemblies without clearance between the tubes. In a second step, the influence of clearance is approximated to account for non-concentric tube assemblies. These elastokinematic results are integrated into a purely kinematic model to describe the cannula path under the presence of material hysteresis and clearance. Finally a photogrammetric measurement system is used to track the path of an exemplary two-tube continuum structure to examine the accuracy of the proposed model. It is shown that material hysteresis leads to a hysteresis phenomena in the path of the tubular continuum structure.

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Section: Cannula Position Detectionmentioning

confidence: 99%

On the influence of pseudoelastic material behaviour in planar shape-memory tubular continuum structures

Greiner-Petter

Sattel

2017

Smart Mater. Struct.

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“…Such snapping is unacceptable, especially in medical context. Works have therefore been devoted to the stability improvement of CTR through tube design [13,21] and path planning [22]. Conditions are then derived on design parameters like the number of tubes, tube geometry or deployment sequence.…”

Section: Introductionmentioning

confidence: 99%

A numerical framework for the stability and cardinality analysis of concentric tube robots: Introduction and application to the follow-the-leader deployment

Peyron

Rabenorosoa

Andreff

et al. 2019

Mechanism and Machine Theory

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Concentric tube robot (CTR) is a promising class of continuum robots for medical interventions given their compactness and dexterity. Their dexterity is in particular being used to achieve so called Follow-the-Leader (FTL) deployments, where the tip path draws the shape of the robot. During this kind of deployment they can however be subject to elastic instabilities, and the number of reachable configurations may vary for a given state of actuators. These cardinality and stability changes need therefore to be predicted during CTR design. Available methods and results are limited, with restrictive assumptions on number and properties of tubes. We therefore propose in this paper a numerical framework for the cardinality and stability assessment of CTR. It is based on the association of dynamic relaxation, continuation method and bifurcation analysis. The numerical framework is validated by reproducing reference results on the stability and cardinality of two-tube robots. Then, new results on three-tube CTR deploying in a FTL manner are presented. The framework genericity allows in particular to provide new insights on the behaviour of CTR with helical-shaped tubes.

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“…48 and Lee et al. 49 Furthermore, a biocompatible lubricant is needed to alleviate any friction in this arrangement. Importantly, the designed proximal mechanism is also applicable for the concentric tubes design, with slight changes to the gears arrangements.…”

Section: Discussionmentioning

confidence: 99%

Exploiting the instability of eccentric tube robots for distal force control in minimally invasive cardiac ablation

Alfalahi

Renda

Messer

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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While the dilemma of motion tracking and force control in beating-heart surgery is previously addressed using active control architectures and rigid robotic actuators, this work leverages the highly controllable mechanical properties of concentric tube robots for intelligent, design-based force control in minimally invasive cardiac ablation. Briefly, cardiac ablation is the conventional procedure for treating arrhythmia patients, by which exposing the diseased cardiac tissue to Radio-Frequency (RF) energy restores the normal heart rhythm. Yet, the procedure suffers low success rate due to the inability of existing flexible catheters to maintain a consistent, optimal contact force between the tip electrode and the tissue, imposing the need for future repeat surgeries upon disease recurrence. The novelty of our work lies in the development of a statically-balanced compliant mechanism composed of (1) distal bi-stable concentric tubes and (2) a compliant, torsional spring mechanism that provides torque at tubes proximal extremity, resulting in an energy-free catheter with a zero-stiffness tip. This catheter is expected to maintain surgical efficacy and safety despite the chaotic displacement of the heart, by naturally keeping the tip force at an optimal level, not less and not more than the surgical requirement. The presented experimental results of the physical prototype, reflect the feasibility of the proposed design, as well as the robustness of the formulated catheter mathematical models which were uniquely deployed in the selection of the optimal design parameters.

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Anisotropic Patterning to Reduce Instability of Concentric-Tube Robots

Cited by 43 publications

References 31 publications

On the influence of pseudoelastic material behaviour in planar shape-memory tubular continuum structures

On the influence of pseudoelastic material behaviour in planar shape-memory tubular continuum structures

A numerical framework for the stability and cardinality analysis of concentric tube robots: Introduction and application to the follow-the-leader deployment

Exploiting the instability of eccentric tube robots for distal force control in minimally invasive cardiac ablation

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