Kinematics and Dexterity Analysis of a Compound Continuum Manipulator for Minimally Invasive Surgical

Zhang, Gang; Du, Fuxin; Su, Jing; Zhang, Tao; Lei, Yanqiang; Song, Rui; Li, Yibin

doi:10.1109/icarm54641.2022.9959287

Cited by 3 publications

(2 citation statements)

References 17 publications

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“…This compound structure is able to increase the working space and improve flexibility. In a previous study, a novel compound continuum manipulator combining CTM and NCM was proposed by Zhang et al 19 . The NCM part is a nickel‐titanium alloy tube with notches, which completes the bending motion by driving cables.…”

Section: Introductionmentioning

confidence: 99%

“…A hybrid concentric tube TDM combining the TDM and CTM was proposed by Abdel-Nasser et al 18 This compound structure is able to increase the working space and improve flexibility. In a previous study, a novel compound continuum manipulator combining CTM and NCM was proposed by Zhang et al 19 The NCM part is a nickel-titanium alloy tube with notches, which completes the bending motion by driving cables. The CTM part is a pre-bent super-elastic nickel-titanium tube.…”

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confidence: 99%

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Compound continuum manipulator for surgery: Efficient static‐based kinematics

Su,

Zhang,

Wei

et al. 2023

Robotics Computer Surgery

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BackgroundThe combination of various continuum manipulators is a potential solution to break the bottleneck of continuum manipulators. However, continuum manipulators dissatisfy the constant curvature assumption due to the influence of joints.MethodsIn this paper, a mechanics‐based kinematic model of the compound continuum manipulator is proposed, which indicates that the curvature is non‐constant. The static model of the manipulator is established, and the relationship of the bending angles is obtained. An efficient static‐based Inverse Kinematic Algorithm using Polynomial Curve (IKAPC) of the manipulator is proposed. The polynomial curve is used to fit the end trajectory of the first manipulator.ResultsThe simulation results show that the IKAPC is 354 times faster than the Levenberg‐Marquardt algorithm. The experimental results show that the mechanics‐based model improves the position accuracy by 3.75 times over the constant curvature method.ConclusionThis paper is critical for solving the inverse kinematics of the compound continuum manipulator.

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Section: Introductionmentioning

confidence: 99%

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confidence: 99%