Continuum robots - a state of the art

Robinson, G.; Davies, J.B.C.

doi:10.1109/robot.1999.774029

Cited by 508 publications

(357 citation statements)

References 21 publications

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“…The following three classes of robot have been described in the literature [6,7]. This classification appears to be motivated, in part, by safety considerations, and is based on the robots' design, maneuverability and degree of autonomy.…”

Section: Classification Of Robots On the Basis Of Maneuverabilitymentioning

confidence: 99%

Robotics in urological surgery: Review of current status and maneuverability, and comparison of robot-assisted and traditional laparoscopy

Singh

2011

Computer Aided Surgery

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To assess the current state of robot-assisted urological surgery, the literature concerning surgical robotic systems, surgical telemanipulators and laparoscopic systems was reviewed. Aspects of these systems pertaining to maneuverability were evaluated, with a view to quantifying their stability and locomotive properties and thereby determining their suitability for use in assisted laparoscopic procedures, particularly robot-assisted laparoscopic urological surgery. The degree of maneuverability and versatility of a robotic system determine its utility in the operating room, and the newer-generation surgical robotic systems have been found to possess a higher degree of maneuverability than older class 1 and class 2 systems.It is now clearly established that robots have an important place in the urologist's armamentarium for minimally invasive surgery; however, the long-term outcomes of several urological procedures (other than robot-assisted radical prostatectomy) performed with the da Vinci surgical robotic system have yet to be evaluated.

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Section: Classification Of Robots On the Basis Of Maneuverabilitymentioning

confidence: 99%

Robotics in urological surgery: Review of current status and maneuverability, and comparison of robot-assisted and traditional laparoscopy

Singh

2011

Computer Aided Surgery

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“…39 The biological counterparts of these mechanisms are found in nature in the form of e.g. elephant trunks, octopus arms, and squid tentacles.…”

Section: Backbone Curves and Continuum Robotsmentioning

confidence: 99%

A survey on snake robot modeling and locomotion

2009

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SUMMARYSnake robots have the potential to make substantial contributions in areas such as rescue missions, firefighting, and maintenance where it may either be too narrow or too dangerous for personnel to operate. During the last 10-15 years, the published literature on snake robots has increased significantly. The purpose of this paper is to give a survey of the various mathematical models and motion patterns presented for snake robots. Both purely kinematic models and models including dynamics are investigated. Moreover, the different approaches to biologically inspired locomotion and artificially generated motion patterns for snake robots are discussed.

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“…Continuum robots, different from conventional discrete joints robots, do not contain rigid links and identifiably rotational joints, whose deformation bases on intrinsic elastic and compliant character (Robinson and Davies, 1999). Because of their small volume, light weight, flexible movement and compliant interaction, continuum manipulators are widely used in MISRS (Burgner-Kahrs et al, 2015).…”

Section: Introductionmentioning

confidence: 99%

Hysteresis analysis of a notched continuum manipulator driven by tendon

Yang

Dong

et al. 2018

Mech. Sci.

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Abstract. Continuum manipulators are widely used in minimally invasive surgical robot systems (MISRS) because of their flexibility and compliance, while their modelling and control are relatively difficult and complex. This paper proposes an improved hysteresis model of a notched continuum manipulator based on the classical Bouc-Wen model, which can reduce errors and increase the accuracy of the kinematic-mechanics coupled model. Then parameters are identified by the mean of genetic algorithm (GA). Hysteresis phenomenon of the mentioned manipulator is actually caused by many factors such as the hysteresis property of Hyperelastic Nitinol Alloy (HNA), the elastic deformation of tendon and the friction between the tendon and the tube. The results of both static and dynamic experiments show that the introduced hysteresis model can eliminate the positional difference between forward and reverse bending processes, and thus improve the forecast precision of deformation during motion. This model can also be used to compensate modelling errors caused by hysteresis of other similar systems.

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Continuum robots - a state of the art

Cited by 508 publications

References 21 publications

Robotics in urological surgery: Review of current status and maneuverability, and comparison of robot-assisted and traditional laparoscopy

Robotics in urological surgery: Review of current status and maneuverability, and comparison of robot-assisted and traditional laparoscopy

A survey on snake robot modeling and locomotion

Hysteresis analysis of a notched continuum manipulator driven by tendon

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