Magnetic concentric tube robots: introduction and analysis
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Date
2022-04
Publication Type
Journal Article
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yes
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Abstract
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.
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published
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Journal / series
Volume
41 (4)
Pages / Article No.
418 - 440
Publisher
SAGE
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Edition / version
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Software
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Date collected
Date created
Subject
Continuum robot; concentric tube robot; magnetic continuum robot; follow-the-leader deployment; orientability; stability analysis; medical robot
Organisational unit
03627 - Nelson, Bradley J. / Nelson, Bradley J.
09891 - Boehler, Quentin / Boehler, Quentin
Notes
Funding
743217 - Soft Micro Robotics (EC)
185039 - Arbeitstitel "Soft Magnetic Robots: Modeling, Design and Control of Magnetically Guided Continuum Manipulators" (SNF)
185039 - Arbeitstitel "Soft Magnetic Robots: Modeling, Design and Control of Magnetically Guided Continuum Manipulators" (SNF)