Modeling and experimental analysis of wire-driven continuum surgical robot

Srikanth K, Lakshmanan S (2020) Continuum robots for manipulation applications: a survey. J Robot

Yong Z, Hu L, Xu YS (2020) Recent advances in design and actuation of continuum robots for medical applications. Actuators 9(4) (MDPI)

Lee C, Kim M, Kim YJ, Hong N, Ryu S, Jin Kim H, Kim S (2017) Soft robot review. Int J Control Autom Syst 15:3–15

Article  Google Scholar 

Zhang W, Li H, Cui L, Li H, Zhang X, Fang S, Zhang Q (2021) Research progress and development trend of surgical robot and surgical instrument arm. Int J Med Robot Comput Assist Surg 17(5):e2309

Article  Google Scholar 

Yu JJ, Hao GB, Chen GM, Bi S (2015) State-of-art of compliant mechanisms and their applications. J Mech Eng 51(13):53–68

Article  Google Scholar 

Burgner-Kahrs J, Rucker DC, Choset H (2015) Continuum robots for medical applications: A survey. IEEE Trans Rob 31(6):1261–1280

Article  Google Scholar 

Ding J, Goldman RE, Xu K, Allen PK, Fowler DL, Simaan N (2012) Design and coordination kinematics of an insertable robotic effectors platform for single-port access surgery. IEEE/ASME Trans Mechatron 18(5):1612–1624

Article  Google Scholar 

Dong X, Raffles M, Cobos-Guzman S, Axinte D, Kell J (2016) A novel continuum robot using twin-pivot compliant joints: design, modeling, and validation. J Mech Robot 8(2)

Gao A, Liu H, Zhou Y, Yang Z, Wang Z, Li H (2015) A cross-helical tendons actuated dexterous continuum manipulator. In: IEEE/RSJ International Conference on intelligent robots and systems (IROS) 2015, pp 2012–2017

Craig JJ (1985) Introduction to robotics. Addison-Wesley

Google Scholar 

Fayong G, Mei T, Zhao J (2014) Problems and improvement of DH method for establishing connecting rod coordinate system. China Mech Eng 25(20):2710

Google Scholar 

Mustafa SK, Agrawal SK (2011) On the force-closure analysis of n-DOF cable-driven open chains based on reciprocal screw theory. IEEE Trans Rob 28(1):22–31

Article  Google Scholar 

Caleb RD (2011) The mechanics of continuum robots: model-based sensing and control. Vanderbilt University

Google Scholar 

Rucker DC, Webster RJ (2011) Statics and dynamics of continuum robots with general tendon routing and external loading. IEEE Trans Rob 27(6):1033–1044

Article  Google Scholar 

Gao Au, Zou Y, Wang Z, Liu H (2017) A general friction model of discrete interactions for tendon actuated dexterous manipulators. J Mech Robot 9(4)

Zhao B, Zeng L, Wu Z, Xu K (2020) A continuum manipulator for continuously variable stiffness and its stiffness control formulation. Mech Mach Theory 149:103746

Article  Google Scholar 

Ranzani T, Cianchetti M, Gerboni G, De Falco I, Menciassi A (2016) A soft modular manipulator for minimally invasive surgery: design and characterization of a single module. IEEE Trans Rob 32(1):187–200

Article  Google Scholar 

Brancadoro M, Manti M, Grani F, Tognarelli S, Menciassi A, Cianchetti M (2019) Toward a variable stiffness surgical manipulator based on fiber jamming transition. Front Robot AI 6:12

Article  PubMed  PubMed Central  Google Scholar 

Luo X, Song D, Zhang Z, Wang S, Shi C (2023) A novel distal hybrid pneumatic/cable-driven continuum joint with variable stiffness capacity for flexible gastrointestinal endoscopy. Adv Intell Syst 5:2200403

Article  Google Scholar 

留言 (0)

沒有登入
gif