Toward Active Cannulas: Miniature Snake-Like Surgical Robots

Webster, Robert J.; Okamura, Allison M.; Cowan, Noah J.

doi:10.1109/iros.2006.282073

Cited by 227 publications

(189 citation statements)

References 13 publications

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“…Several flexible steerable needles have been developed in an effort to overcome the path planning limitations encountered with rigid straight needles (e.g., [2], [4][5][6][7][8][9]). Some of these newly developed needles rely on concentric axial insertion of multiple pre-bent needle parts, whereas others rely on reaction forces from the tissue to control the steering curvature (for reviews see [10,11]).…”

Section: Percutaneous Needles: a Brief State-of-the-artmentioning

confidence: 99%

Wasp-Inspired Needle Insertion with Low Net Push Force

Sprang

Breedveld

Dodou

2016

Lecture Notes in Computer Science

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Section: Percutaneous Needles: a Brief State-of-the-artmentioning

confidence: 99%

Wasp-Inspired Needle Insertion with Low Net Push Force

Sprang

Breedveld

Dodou

2016

Lecture Notes in Computer Science

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“…In terms of practical applications, rectilinear locomotion may provide added versatility to limbless snake-like robots, designed for use in search-and-rescue processes during natural disasters [1,2]. Rectilinear locomotion may also be implemented in the control of medical snake-robots used to reach parts of the human body that physicians have difficulty accessing [3]. Such applications involve locomotion through tight crevices and so require the application of rectilinear locomotion.…”

Section: Introductionmentioning

confidence: 99%

Snakes mimic earthworms: propulsion using rectilinear travelling waves

Marvi

Bridges

2013

J. R. Soc. Interface.

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In rectilinear locomotion, snakes propel themselves using unidirectional travelling waves of muscular contraction, in a style similar to earthworms. In this combined experimental and theoretical study, we film rectilinear locomotion of three species of snakes, including red-tailed boa constrictors, Dumeril's boas and Gaboon vipers. The kinematics of a snake's extensioncontraction travelling wave are characterized by wave frequency, amplitude and speed. We find wave frequency increases with increasing body size, an opposite trend than that for legged animals. We predict body speed with 73 -97% accuracy using a mathematical model of a one-dimensional n-linked crawler that uses friction as the dominant propulsive force. We apply our model to show snakes have optimal wave frequencies: higher values increase Froude number causing the snake to slip; smaller values decrease thrust and so body speed. Other choices of kinematic variables, such as wave amplitude, are suboptimal and appear to be limited by anatomical constraints. Our model also shows that local body lifting increases a snake's speed by 31 per cent, demonstrating that rectilinear locomotion benefits from vertical motion similar to walking.

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“…A device having n tubes thus has 2n degrees of freedom. Due to the elastic interaction of the tubes, the kinematics of concentric tube robots is complex and must be computed numerically [31,22]. Computing the kinematic model of the concentric tube robot requires over 50 times more computation time than for the 6-DOF manipulator.…”

Section: Concentric Tube Robot Scenariomentioning

confidence: 99%

Safe Motion Planning for Imprecise Robotic Manipulators by Minimizing Probability of Collision

Sun

Torres

Berg

et al. 2016

Springer Tracts in Advanced Robotics

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Robotic manipulators designed for home assistance and new surgical procedures often have significant uncertainty in their actuation due to compliance requirements, cost constraints, and size limits. We introduce a new integrated motion planning and control algorithm for robotic manipulators that makes safety a priority by explicitly considering the probability of unwanted collisions. We first present a fast method for estimating the probability of collision of a motion plan for a robotic manipulator under the assumptions of Gaussian motion and sensing uncertainty. Our approach quickly computes distances to obstacles in the workspace and appropriately transforms this information into the configuration space using a Newton method to estimate the most relevant collision points in configuration space. We then present a sampling-based motion planner based on executing multiple independent rapidly exploring random trees that returns a plan that, under reasonable assumptions, asymptotically converges to a plan that minimizes the estimated collision probability. We demonstrate the speed and safety of our plans in simulation for (1) a 3-D manipulator with 6 DOF, and (2) a concentric tube robot, a tentacle-like robot designed for surgical applications.

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Toward Active Cannulas: Miniature Snake-Like Surgical Robots

Cited by 227 publications

References 13 publications

Wasp-Inspired Needle Insertion with Low Net Push Force

Wasp-Inspired Needle Insertion with Low Net Push Force

Snakes mimic earthworms: propulsion using rectilinear travelling waves

Safe Motion Planning for Imprecise Robotic Manipulators by Minimizing Probability of Collision

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