LAUSR

About LAUSR
Donate
Contact Us

Follow us:

You are not signed in:

Sign Up!


   Articles with "continuum robot" as a keyword



Design optimization of a contact-aided continuum robot for endobronchial interventions based on anatomical constraints

Sign Up to like & get
recommendations! Published in 2019 at "International Journal of Computer Assisted Radiology and Surgery"

DOI: 10.1007/s11548-019-01972-8

Abstract: PurposeA laser-profiled continuum robot (CR) with a series of interlocking joints has been developed in our center to reach deeper areas of the airways. However, it deflects with constant curvature, which thus increases the difficulty… read more here.

Keywords: robot; continuum robot; nonconstant curvature; curvature ... See more keywords

Development of a slender continuum robotic system for on-wing inspection/repair of gas turbine engines

Sign Up to like & get
recommendations! Published in 2017 at "Robotics and Computer-integrated Manufacturing"

DOI: 10.1016/j.rcim.2016.09.004

Abstract: The maintenance works (e.g. inspection, repair) of aero-engines while still attached on the airframes requires a desirable approach since this can significantly shorten both the time and cost of such interventions as the aerospace industry… read more here.

Keywords: end; continuum robot; end effector; gas turbine ... See more keywords

A singularity-robust and sensorless-calibrated continuum robot system for dexterous laryngeal surgery

Sign Up to like & get
recommendations! Published in 2025 at "Robotica"

DOI: 10.1017/s0263574725102725

Abstract: A major challenge in laryngeal surgery today is the limited flexibility of surgical operations. To address the limitation, this paper proposes a novel continuum robot (CR) system with enhanced dexterity, a robust inverse kinematics algorithm,… read more here.

Keywords: surgery; system; kinematics; laryngeal surgery ... See more keywords

Development and Stability Analysis of an Imitation Learning-Based Pose Planning Approach for Multi-Section Continuum Robot

Sign Up to like & get
recommendations! Published in 2020 at "IEEE Access"

DOI: 10.1109/access.2020.2997636

Abstract: Recently, continuum flexible robots have been designed for the use in diverse applications; including the exploration of confined static and dynamic environments. One of the challenging tasks for those robots is planning optimal trajectories due… read more here.

Keywords: approach; continuum robot; robot; section continuum ... See more keywords

Realizing Large Shape Deformations of a Flying Continuum Robot With a Passive Rotating Nozzle Unit That Enlarges Jet Directions in Three-Dimensional Space

Sign Up to like & get
recommendations! Published in 2022 at "IEEE Access"

DOI: 10.1109/access.2022.3162835

Abstract: Flexible continuum robots have considerable potential for use in exploring intricate spaces, and their ability to make large body shape deformations can increase the inspection area. We previously proposed a jet-actuated flying continuum robot for… read more here.

Keywords: large shape; shape deformations; unit; continuum robot ... See more keywords

Kinestatic Modeling of a Spatial Screw-Driven Continuum Robot

Sign Up to like & get
recommendations! Published in 2022 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2022.3143896

Abstract: Continuum robots offer many advantages for use in miniature diagnostic and interventional surgical devices. However, the creation of snake-like devices with extremely high slenderness ratios, those with great length and small diameter, remains challenging from… read more here.

Keywords: continuum; kinestatic modeling; screw driven; continuum robot ... See more keywords

Novel Design of a Cable-Driven Continuum Robot With Multiple Motion Patterns

Sign Up to like & get
recommendations! Published in 2022 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2022.3166547

Abstract: Cable-driven continuum robots exhibit accessing and manipulation capabilities in constrained and cluttered environments that are unachievable for traditional robots composing of discrete links and joints. However, the existing continuum robots structured by non-scalable backbones are… read more here.

Keywords: driven continuum; motion; design; continuum robot ... See more keywords

Design and Analysis of a Novel Variable Stiffness Continuum Robot With Built-in Winding-Styled Ropes

Sign Up to like & get
recommendations! Published in 2022 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2022.3171917

Abstract: Continuum robots driven by rods have a wide range of applications, such as detection and maintenance tasks in unstructured environments. However, their inherent nature of flexibility also limits their function. Thus, variable stiffness mechanisms for… read more here.

Keywords: variable stiffness; stiffness; continuum robot; winding styled ... See more keywords

Imitation-Based Motion Planning and Control of a Multi-Section Continuum Robot Interacting With the Environment

Sign Up to like & get
recommendations! Published in 2023 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2023.3239306

Abstract: Recently, flexible robots are growing in importance owing to their merits over rigid robots in maneuverability and safety, which equips them to work in unstructured environments, such as occur in medical applications. However, motion planning… read more here.

Keywords: section; control; motion; continuum robot ... See more keywords

Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Disks

Sign Up to like & get
recommendations! Published in 2023 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2023.3267006

Abstract: Toward the future goal of creating a lung surgery system featuring multiple tentacle-like robots, we present a new folding concept for continuum robots that enables them to squeeze through openings smaller than the robot's nominal… read more here.

Keywords: toward continuum; tentacles lung; robot tentacles; continuum robot ... See more keywords

MPC Design of a Continuum Robot for Pulmonary Interventional Surgery Using Koopman Operators

Sign Up to like & get
recommendations! Published in 2024 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2024.3483048

Abstract: This letter focuses on the flexible tube of a bronchoscope robot used in pulmonary intervention surgery, which is considered as a continuum robot. The dynamics model is proposed based on the Koopman operator, leveraging real… read more here.

Keywords: surgery; robot; koopman; proposed algorithm ... See more keywords