SLAM-Based Follow-the-Leader Deployment of Concentric Tube Robots

Girerd, Cédric; Kudryavtsev, Andrey V.; Rougeot, Patrick; Renaud, Pierre; Rabenorosoa, Kanty; Tamadazte, Brahim

doi:10.1109/lra.2019.2963821

Cited by 15 publications

(10 citation statements)

References 27 publications

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“…Note that an area-based accuracy assessment is used in Chikhaoui et al (2019) to compare two modeling approaches for a TDCR by projecting a measured point cloud onto several planes. In Girerd et al (2020) , superposition of all intermediate shapes of a CTCR is used to highlight the approximate FTL deployment. A similar approach is utilized in Amanov et al (2019 , 2016) , where the overall occupied space over the course of deployment is used to visually show the feasibility.…”

Section: Discussion and Perspectivesmentioning

confidence: 99%

“…Using the photographs taken from a motion sequence in ( Amanov et al, 2016 ), the extensible segment TDCR achieves

0.2280

, whereas a CTCR used in Girerd et al (2020) achieves

0.3285

in simulation and

3.2728

with real hardware. Note that in ( Amanov et al, 2016 ) the extensible segment TDCR has three segments and that a CTCR is typically incapable of pure FTL deployment as stated in ( Gilbert and Webster, 2013 ).…”

Section: Follow-the-leader Deploymentmentioning

confidence: 99%

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FAS—A Fully Actuated Segment for Tendon-Driven Continuum Robots

et al. 2022

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We propose a segment design that combines two distinct characteristics of tendon-driven continuum robots, i.e. variable length and non-straight tendon routing, into a single segment by enabling rotation of its backbone. As a result, this segment can vary its helical tendon routing and has four degrees-of-freedom, while maintaining a small-scale design with an overall outer diameter of 7 mm thanks to an extrinsic actuation principle. In simulation and on prototypes, we observe improved motion capabilities, as evidenced by position redundancy and follow-the-leader deployment along spatially tortuous paths. To demonstrate the latter on a physical prototype, a simple, yet effective area-based error measure for follow-the-leader deployment is proposed to evaluate the performance. Furthermore, we derive a static model which is used to underpin the observed motion capabilities. In summary, our segment design extends previous designs with minimal hardware overhead, while either archiving similar accuracy in position errors and planar follow-the-leader deployment, or exhibiting superior motion capabilities due to position redundancy and spatial follow-the-leader deployment.

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Section: Discussion and Perspectivesmentioning

confidence: 99%

“…Using the photographs taken from a motion sequence in ( Amanov et al, 2016 ), the extensible segment TDCR achieves

0.2280

, whereas a CTCR used in Girerd et al (2020) achieves

0.3285

in simulation and

3.2728

Section: Follow-the-leader Deploymentmentioning

confidence: 99%

FAS—A Fully Actuated Segment for Tendon-Driven Continuum Robots

et al. 2022

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“…[220][221][222] With concentric tubes, specific deployment sequences and tube pre-curvature help minimize the deviation from exact FTL motion. [216,[223][224][225] Soft growing robots also intrinsically FTL through eversion.…”

Section: Motion Planningmentioning

confidence: 99%

Continuum Robots: An Overview

Russo

Sadati

Dong

et al. 2023

Advanced Intelligent Systems

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When thinking of robots, the image that immediately springs to mind is either an android, designed to resemble human beings and mimic their behavior, or an industrial manipulator, for example, a large machine of rigid steel working in an assembly line. However, robotic systems of multiple forms have been developed to carry out the most diverse tasks, with designs that evolved from readily available structures, such as vehicles, or inspired by nature. In the last decade, more and more bioinspired designs have been enabled by advances in computer science, materials, and manufacturing. Among them, continuum robots, inspired by snakes, trunks, and tendrils, are characterized by a compliant backbone capable of continuous bending, whose shape (configuration, i.e., position and orientation along the backbone curve) is controlled by applying loads through onboard "intrinsic" actuators (e.g., pneumatics or hydraulics) or transmission elements (e.g., tendons, rods, or compliant tubes) that are pushed/pulled from an extremity of the backbone ("extrinsic actuation"). These robots have flexible bodies with a high length to cross-section diameter ratio and are uniquely suited to tasks that require the deployment of tools or sensors with a long reach into tortuous and narrow paths. [1] Continuum robots were first developed in the 1960s [2] and rose to prominence in the late 1990s, [3] when they were often called elephant trunk, [4] tentacle/tendril, [5] or flexible [6] manipulators. Whereas other robots were characterized by intrinsic actuation and larger sizes, research on continuum robots first focused on miniaturization for medical applications, [7,8] leading to extrinsic actuation to enable leaner designs. Recently, continuum robots have been developed for a wider range of applications, including manufacturing, aerospace, search and rescue, and nuclear. In such scenarios, the infinite degrees of freedom (DoFs) of these slender robots enable inspection and intervention in areas that cannot be accessed by conventional robots (e.g., tunnels [9] and gas turbines [10] ).An exhaustive literature search (see Appendix) outlines a surging interest in continuum robots, with a 19.6% average annual growth in publications between 2012 and 2021 (continuum robot search on Web of Science). Three main topics can be observed in recent literature surveys, listed in Table 1. DesignTendon-driven and concentric tube robots are predominant in surveys, but they are not the only design solutions. [18] This richer literature can be attributed to intense research effort toward medical and other small-scale applications when compared to larger-scale tasks (e.g., manipulation) where intrinsic actuation is advantageous.

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“…The follow-the-leader method has been the main framework for CTR automation and whole-body control in medical applications (80)(81)(82). CTRs cannot perfectly perform follow-the-leader tasks except on paths consisting of a constant curvature or helical curves and a planar arrangement of the tubes with a relatively high stiffness and carefully chosen tube precurvatures and lengths (41,83).…”

Section: Whole-body and Follow-the-leader Controlmentioning

confidence: 99%

From Theoretical Work to Clinical Translation: Progress in Concentric Tube Robots

Mitros

Sadati

Henry

et al. 2022

Annu. Rev. Control Robot. Auton. Syst.

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Continuum robots can traverse anatomical pathways to intervene in regions deep inside the human body. They are able to steer along 3D curves in confined spaces and dexterously handle tissues. Concentric tube robots (CTRs) are continuum robots that comprise a series of precurved elastic tubes that can be translated and rotated with respect to each other to control the shape of the robot and tip pose. CTRs are a rapidly maturing technology that has seen extensive research over the past decade. Today, they are being evaluated as tools for a variety of surgical applications, as they can offer precision and manipulability in tight workspaces. This review provides an exhaustive classification of research on CTRs based on their clinical applications and highlights approaches for modeling, control, design, and sensing. Competing approaches are critically presented, leading to a discussion of future directions to address the limitations of current research and its translation to clinical applications. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

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SLAM-Based Follow-the-Leader Deployment of Concentric Tube Robots

Cited by 15 publications

References 27 publications

FAS—A Fully Actuated Segment for Tendon-Driven Continuum Robots

FAS—A Fully Actuated Segment for Tendon-Driven Continuum Robots

Continuum Robots: An Overview

From Theoretical Work to Clinical Translation: Progress in Concentric Tube Robots

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