Preliminary Development of a Continuum Dual-Arm Surgical Robotic System for Transurethral Procedures

Xu, Kai; Liang, Bo; Dai, Zhengchen; Zhao, Jiangran; Zhao, Bin; Liu, Huan; Liang, Xiao; Sun, Yinghao

doi:10.1007/978-3-319-65292-4_27

Cited by 6 publications

(1 citation statement)

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“…For instance, two identical robotic systems with different end effectors (one with a camera and flame ignitor, another with a thermal spray nozzle), developed at Nottingham University in collaboration with Rolls Royce plc [ 13 ], were deployed to repair the coatings on the inside of a very cramped aeroengine collaboratively from two opposite inspection holes [ 12 ]. Dual-arm continuum robots have been considered for telesurgery to perform ‘two-handed’ tasks, including suture passing and knot tying, such as the system developed by Columbia University and Vanderbilt University, where two or more concentric tube continuum arms extend from a rigid base [ 13 , 14 ]. As the shape of the arms here is dictated by complex anatomical features, the necessarily high-accuracy control relies on a complicated kinetostatic model [ 15 ].…”

Section: Introductionmentioning

confidence: 99%

Collaborative Continuum Robots for Remote Engineering Operations

Monk

Cheneler

2022

Biomimetics

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In situ repair and maintenance of high-value industrial equipment is critical if they are to maintain the ability to continue vital operations. Conventional single-arm continuum robots have been proven numerous times to be successful tools for use in repair operations. However, often more than one arm is needed to ensure successful operation within several scenarios; thus, the collaborative operation of multiple arms is required. Here, we present the design and operating principles of a dual-arm continuum robot system designed to perform critical tasks within industrial settings. Here, presented are the design principle of the robotic system, the optimization-based inverse kinematic calculation of the 6-DoF continuum arms, and the collaborative operation strategy. The collaborative principle and algorithms used have been evaluated by a set of experiments to demonstrate the ability of the system to perform in situ machining operations. With the developed prototype and controller, the average error between planned and real toolpaths can be within 2.5 mm.

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