Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions

被引：0

作者：

Pittiglio, Giovanni ^{[1
]}

Mencattelli, Margherita ^{[1
]}

Donder, Abdulhamit ^{[1
]}

Chitalia, Yash ^{[2
]}

Dupont, Pierre E. ^{[1
]}

机构：

[1] Harvard Med Sch, Boston Childrens Hosp, Dept Cardiovasc Surg, Boston, MA 02115 USA

[2] Univ Louisville, Dept Mech Engn, Louisville, KY 40292 USA

来源：

2023 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2023年

关键词：

Medical Robots and Systems; Steerable Catheters; Flexible Robotics; Magnetic Actuation; Continuum robots;

D O I：

10.1109/IROS55552.2023.10341686

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A hybrid continuum robot design is introduced that combines a proximal tendon-actuated section with a distal telescoping section comprised of permanent-magnet spheres actuated using an external magnet. While, individually, each section can approach a point in its workspace from one or at most several orientations, the two-section combination possesses a dexterous workspace. The paper describes kinematic modeling of the hybrid design and provides a description of the dexterous workspace. We present experimental validation which shows that a simplified kinematic model produces tip position mean and maximum errors of 3% and 7% of total robot length, respectively.

引用

页码：8461 / 8466

页数：6

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