Magnetic concentric tube robots: introduction and analysis
| العنوان: | Magnetic concentric tube robots: introduction and analysis |
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| المؤلفون: | Quentin Peyron, Quentin Boehler, Patrick Rougeot, Pierre Roux, Bradley J Nelson, Nicolas Andreff, Kanty Rabenorosoa, Pierre Renaud |
| المساهمون: | Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS) |
| المصدر: | The International Journal of Robotics Research The International Journal of Robotics Research, 2022, 41 (4), ⟨10.1177/0278364921107111⟩ The International Journal of Robotics Research, 41 (4) |
| بيانات النشر: | HAL CCSD, 2022. |
| سنة النشر: | 2022 |
| مصطلحات موضوعية: | medical robot, Continuum robot, concentric tube robot, magnetic continuum robot, follow-the-leader deployment, orientability, stability analysis, Applied Mathematics, Mechanical Engineering, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, Artificial Intelligence, Modeling and Simulation, Electrical and Electronic Engineering, Software |
| الوصف: | In this paper, we propose a new type of continuum robot, referred to as a magnetic concentric tube robot (M-CTR), for performing minimally invasive surgery in narrow and difficult-to-access areas. The robot combines concentric tubes and magnetic actuation to benefit from the ‘follow the leader’ behaviour, the dexterity and stability of existing robots, while targeting millimetre-sized external diameters. These three kinematic properties are assessed through numerical and experimental studies performed on a prototype of a M-CTR. They are performed with general forward and inverse kineto-static models of the robot, continuation and bifurcation analysis, and a specific experimental setup. The prototype presents unique capabilities in terms of deployment and active stability management, while its dexterity in terms of tip orientability is also among the best reported for other robots at its scale. The International Journal of Robotics Research, 41 (4) ISSN:0278-3649 ISSN:1741-3176 |
| وصف الملف: | application/application/pdf |
| اللغة: | English |
| تدمد: | 0278-3649 1741-3176 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f2c6e10e7fe08458676bcb49052dcccc https://hal.science/hal-03926457 |
| حقوق: | OPEN |
| رقم الأكسشن: | edsair.doi.dedup.....f2c6e10e7fe08458676bcb49052dcccc |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 02783649 17413176 |
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