Design and Kinematic Modeling of a Notch Continuum Manipulator for Laryngeal Surgery
Sign Up to like & getrecommendations! Published in 2020 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-019-1007-3
Abstract: A notch continuum manipulator with a large cavity is presented. The continuum manipulator which is designed for laryngeal surgery is composed of guidewire discs and a Nitinol skeleton. The deformation of the continuum manipulator is… read more here.
Keywords: space; continuum manipulator; laryngeal surgery; notch continuum ... See more keywords
A learning-based tip contact force estimation method for tendon-driven continuum manipulator
Sign Up to like & getrecommendations! Published in 2021 at "Scientific Reports"
DOI: 10.1038/s41598-021-97003-1
Abstract: Although tendon-driven continuum manipulators have been extensively researched, how to realize tip contact force sensing in a more general and efficient way without increasing the diameter is still a challenge. Rather than use a complex… read more here.
Keywords: force; continuum manipulator; contact force; tip contact ... See more keywords
Variable Stiffness Model Construction and Simulation Verification of Coupled Notch Continuum Manipulator
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Access"
DOI: 10.1109/access.2019.2949376
Abstract: The continuum manipulators, which have gradually become a research hotspot of minimally invasive surgery have the characteristics of small size, lightweight, and better environmental adaptability. In this paper, a two degrees of freedom continuum manipulator… read more here.
Keywords: manipulator; model; variable stiffness; notch continuum ... See more keywords
Autonomous Data-Driven Manipulation of Unknown Anisotropic Deformable Tissues Using Unmodelled Continuum Manipulators
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2018.2888896
Abstract: We present an autonomous manipulation approach for tissues with anisotropic deformation behavior using a continuum manipulator. The key feature of our vision-based study is an online learning and estimation method, which makes its implementation independent… read more here.
Keywords: manipulation; driven manipulation; continuum; data driven ... See more keywords
A Multi-Contact-Aided Continuum Manipulator With Anisotropic Shapes
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3068648
Abstract: Cable-driven continuum manipulators have shown excellent benefits to work for endoluminal intervention. Demand of small diameter for confined anatomy limits the usage of multiple actuations, leading to limited DOFs and bending shapes. To address this… read more here.
Keywords: contact aided; manipulator; multi contact; continuum ... See more keywords
FIORA : A Flexible Tendon-Driven Continuum Manipulator for Laparoscopic Surgery
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3134276
Abstract: Aiming at solving the problems of low flexibility, poor internal extension, and chopstick effect in most laparoscopic surgical robots, this letter presents a flexible tendon-driven continuum surgical manipulator with eight degrees of freedom, called FIORA.… read more here.
Keywords: continuum manipulator; driven continuum; flexible tendon; fiora flexible ... See more keywords
Strong Continuum Manipulator for Flexible Endoscopic Surgery
Sign Up to like & getrecommendations! Published in 2019 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2019.2932378
Abstract: Owing to the trend toward minimally invasive surgery, manipulators are in demand to achieve more accessibility, agility, and miniaturization. However, conventional manipulators are not flexible, miniaturized, or strong enough to perform surgical procedures in deep,… read more here.
Keywords: strong continuum; payload; manipulator; surgery ... See more keywords
Construction of Controller Model of Notch Continuum Manipulator for Laryngeal Surgery Based on Hybrid Method
Sign Up to like & getrecommendations! Published in 2021 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2020.3015133
Abstract: The laryngeal surgery is usually performed with rigid surgical instruments. However, those instruments inevitably cause tissue damage. A novel notch continuum manipulator for laryngeal surgery is proposed. The deformation of the notch continuum manipulator is… read more here.
Keywords: model; notch continuum; continuum manipulator; kinematics ... See more keywords