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

Abdel-Nasser, M.; Salah, Omar

doi:10.1177/09544062211042407

Cited by 5 publications

(4 citation statements)

References 61 publications

(64 reference statements)

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Section: Introductionmentioning

confidence: 99%

“…The continuum manipulator combining the TDM and CTM has a workspace that is closer to the requirements of practical application. 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.…”

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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%

Compound continuum manipulator for surgery: Efficient static‐based kinematics

Su,

Zhang,

Wei

et al. 2023

Robotics Computer Surgery

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“…Subsequently, several different hybrid-driven continuum robots were proposed. Abdel-Nasser et al [ 18 ] proposed to combine the articulated continuum robot with the concentric tube robot for use in minimally invasive surgery applications, resulting in a robot with a larger working space and enhanced dexterity. Zhang et al [ 19 ] proposed a hybrid-driven continuum robot, which is tendon-driven and magnetic-driven in mode and achieved large-angle steering and high-precision micromanipulation simultaneously.…”

Section: Introductionmentioning

confidence: 99%

Coupling Analysis of Compound Continuum Robots for Surgery: Another Line of Thought

Wei

Zhang

Wang

et al. 2023

Sensors

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The compound continuum robot employs both concentric tube components and cable-driven continuum components to achieve its complex motions. Nevertheless, the interaction between these components causes coupling, which inevitably leads to reduced accuracy. Consequently, researchers have been striving to mitigate and compensate for this coupling-induced error in order to enhance the overall performance of the robot. This paper leverages the coupling between the components of the compound continuum robot to accomplish specific surgical procedures. Specifically, the internal concentric tube component is utilized to induce motion in the cable-driven external component, which generates coupled motion under the constraints of the cable. This approach enables the realization of high-precision surgical operations. Specifically, a kinematic model for the proposed robot is established, and an inverse kinematic algorithm is developed. In this inverse kinematic algorithm, the solution of a highly nonlinear system of equations is simplified into the solution of a single nonlinear equation. To demonstrate the effectiveness of the proposed approach, simulations are conducted to evaluate the efficiency of the algorithm. The simulations conducted in this study indicate that the proposed inverse kinematic (IK) algorithm improves computational speed by a significant margin. Specifically, it achieves a speedup of 2.8 × 103 over the Levenberg–Marquardt (LM) method. In addition, experimental results demonstrate that the coupled-motion system achieves high levels of accuracy. Specifically, the repetitive positioning accuracy is measured to be 0.9 mm, and the tracking accuracy is 1.5 mm. This paper is significant for dealing with the coupling of the compound continuum robot.

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“…It should be noted that instability refers to the rapid jump of the concentric tube robot from one equilibrium position with higher potential energy to another equilibrium point with lower potential energy. This movement is difficult to control and is extremely dangerous for surgical procedures [31,32]. In the design, we need to try to avoid this situation.…”

Section: Introductionmentioning

confidence: 99%

Design and Modeling of a Bio-Inspired Compound Continuum Robot for Minimally Invasive Surgery

Zhang

Xue

et al. 2022

Machines

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The continuum robot is a new type of bionic robot which is widely used in the medical field. However, the current structure of the continuum robot limits its application in the field of minimally invasive surgery. In this paper, a bio-inspired compound continuum robot (CCR) combining the concentric tube continuum robot (CTR) and the notched continuum robot is proposed to design a high-dexterity minimally invasive surgical instrument. Then, a kinematic model, considering the stability of the CTR part, was established. The unstable operation of the CCR is avoided. The simulation of the workspace shows that the introduction of the notched continuum robot expands the workspace of CTR. The dexterity indexes of the robots are proposed. The simulation shows that the dexterity of the CCR is 1.472 times that of the CTR. At last, the length distribution of the CCR is optimized based on the dexterity index by using a fruit fly optimization algorithm. The simulations show that the optimized CCR is more dexterous than before. The dexterity of the CCR is increased by 1.069 times. This paper is critical for the development of high-dexterity minimally invasive surgical instruments such as those for the brain, blood vessels, heart and lungs.

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

Cited by 5 publications

References 61 publications

Compound continuum manipulator for surgery: Efficient static‐based kinematics

Compound continuum manipulator for surgery: Efficient static‐based kinematics

Coupling Analysis of Compound Continuum Robots for Surgery: Another Line of Thought

Design and Modeling of a Bio-Inspired Compound Continuum Robot for Minimally Invasive Surgery

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