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Literatura académica sobre el tema "Concentric tubes robots"

Autor: Grafiati

Publicado: 1 de marzo de 2025

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Artículos de revistas sobre el tema "Concentric tubes robots"

Liu, Tianxiang, Gang Zhang, Peng Zhang, Tianyu Cheng, Zijie Luo, Shengsong Wang y Fuxin Du. "Modeling of and Experimenting with Concentric Tube Robots: Considering Clearance, Friction and Torsion". Sensors 23, n.º 7 (3 de abril de 2023): 3709. http://dx.doi.org/10.3390/s23073709.

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Concentric tube robots (CTRs) are a promising prospect for minimally invasive surgery due to their inherent compliance and ability to navigate in constrained environments. Existing mechanics-based kinematic models typically neglect friction, clearance, and torsion between each pair of contacting tubes, leading to large positioning errors in medical applications. In this paper, an improved kinematic modeling method is developed. The effect of clearance on tip position during concentric tube assembly is compensated by the database method. The new kinematic model is mechanic-based, and the impact of friction moment and torsion on tubes is considered. Integrating the infinitesimal torsion of the concentric tube robots eliminates the errors caused by the interaction force between the tubes. A prototype is built, and several experiments with kinematic models are designed. The results indicate that the error of tube rotations is less than 2 mm. The maximum error of the feeding experiment does not exceed 0.4 mm. The error of the new modeling method is lower than that of the previous kinematic model. This paper has substantial implications for the high-precision and real-time control of concentric tube robots.

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Garriga-Casanovas, Arnau y Ferdinando Rodriguez y Baena. "Complete follow-the-leader kinematics using concentric tube robots". International Journal of Robotics Research 37, n.º 1 (28 de diciembre de 2017): 197–222. http://dx.doi.org/10.1177/0278364917746222.

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Concentric tube robots offer the capability of follow-the-leader motion, which is desirable when navigating in cluttered environments, such as in minimally invasive surgery or in-situ inspections. The follow-the-leader capabilities identified in the existing literature, however, are limited to trajectories with piecewise constant-curvature segments or piecewise helical segments. A complete study of follow-the-leader kinematics is, therefore, relevant to determine the full potential of these robots, and clarify an open question. In this paper, a general analysis of follow-the-leader motion is presented, and a closed-form solution to the complete set of trajectories where follow-the-leader is possible under the assumption of no axial torsion of the tubes composing the robot is derived. For designs with constant-stiffness tubes, the precurvatures required are found to be either circumference arcs, helices, or deformed helices with exponentially varying curvature magnitude. The analysis developed also elucidates additional motions of interest, such as the combination of follow-the-leader motion in a robot segment with general maneuvers in another part. To determine the applicability of the assumption regarding the tubes’ torsion, the general equilibrium of the robot designs of interest is considered, and a closed-form solution to torsion in two-tube robots with helical precurvatures is derived. Criteria to select a desired torsional behavior are then extracted. This enables one to identify stable trajectories where follow-the-leader is possible, for potential application to minimally invasive surgery. An illustrative case study involving simulation and experiment is conceived using one of these trajectories, and the results are reported, showcasing the research.

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Ha, Junhyoung y Pierre E. Dupont. "Designing Stable Concentric Tube Robots Using Piecewise Straight Tubes". IEEE Robotics and Automation Letters 2, n.º 1 (enero de 2017): 298–304. http://dx.doi.org/10.1109/lra.2016.2606656.

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Bruns, Trevor L., Andria A. Remirez, Maxwell A. Emerson, Ray A. Lathrop, Arthur W. Mahoney, Hunter B. Gilbert, Cindy L. Liu et al. "A modular, multi-arm concentric tube robot system with application to transnasal surgery for orbital tumors". International Journal of Robotics Research 40, n.º 2-3 (febrero de 2021): 521–33. http://dx.doi.org/10.1177/02783649211000074.

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In the development of telemanipulated surgical robots, a class of continuum robots known as concentric tube robots has drawn particular interest for clinical applications in which space is a major limitation. One such application is transnasal surgery, which is used to access surgical sites in the sinuses and at the skull base. Current techniques for performing these procedures require surgeons to maneuver multiple rigid tools through the narrow confines of the nasal passages, leaving them with limited dexterity at the surgical site. In this article, we present a complete robotic system for transnasal surgery featuring concentric tube manipulators. It illustrates a bagging concept for sterility, and intraoperatively interchangeable instruments that work in conjunction with it, which were developed with operating room workflow compatibility in mind. The system also includes a new modular, portable surgeon console, a variable view-angle endoscope to facilitate surgical field visualization, and custom motor control electronics. Furthermore, we demonstrate elastic instability avoidance for the first time on a physical prototype in a geometrically accurate surgical scenario, which facilitates use of higher curvature tubes than could otherwise be used safely in this application. From a surgical application perspective, this article presents the first robotic approach to removing tumors growing behind the eyes in the orbital apex region, which has not been attempted previously with a surgical robot.

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Modes, Vincent y Jessica Burgner-Kahrs. "Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes". IEEE Robotics and Automation Letters 5, n.º 1 (enero de 2020): 103–10. http://dx.doi.org/10.1109/lra.2019.2946060.

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Swaney, Philip J., Arthur W. Mahoney, Bryan I. Hartley, Andria A. Remirez, Erik Lamers, Richard H. Feins, Ron Alterovitz y Robert J. Webster. "Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles". Journal of Medical Robotics Research 02, n.º 01 (26 de febrero de 2017): 1750001. http://dx.doi.org/10.1142/s2424905x17500015.

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Lung cancer is the most deadly form of cancer in part because of the challenges associated with accessing nodules for diagnosis and therapy. Transoral access is preferred to percutaneous access since it has a lower risk of lung collapse, yet many sites are currently unreachable transorally due to limitations with current bronchoscopic instruments. Toward this end, we present a new robotic system for image-guided trans-bronchoscopic lung access. The system uses a bronchoscope to navigate in the airway and bronchial tubes to a site near the desired target, a concentric tube robot to move through the bronchial wall and aim at the target, and a bevel-tip steerable needle with magnetic tracking to maneuver through lung tissue to the target under closed-loop control. In this work, we illustrate the workflow of our system and show accurate targeting in phantom experiments. Ex vivo porcine lung experiments show that our steerable needle can be tuned to achieve appreciable curvature in lung tissue. Lastly, we present targeting results with our system using two scenarios based on patient cases. In these experiments, phantoms were created from patient-specific computed tomography information and our system was used to target the locations of suspicious nodules, illustrating the ability of our system to reach sites that are traditionally inaccessible transorally.

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Jabari, Mohammad, Manizhe Zakeri, Farrokh Janabi-Sharifi y Somayeh Norouzi-Ghazbi. "Inverse Kinematics of Concentric Tube Robots in the Presence of Environmental Constraints". Applied Bionics and Biomechanics 2021 (14 de agosto de 2021): 1–12. http://dx.doi.org/10.1155/2021/4107732.

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Inverse kinematics (IK) of concentric tube continuum robots (CTRs) is associated with two main problems. First, the robot model (e.g., the relationship between the configuration space parameters and the robot end-effector) is not linear. Second, multiple solutions for the IK are available. This paper presents a general approach to solve the IK of CTRs in the presence of constrained environments. It is assumed that the distal tube of the CTR is inserted into a cavity while its proximal end is placed inside a tube resembling the vessel enabling the entry to the organ cavity. The robot-tissue interaction at the beginning of the organ-cavity imposed displacement and force constraints to the IK problem to secure a safe interaction between the robot and tissue. The IK in CTRs has been carried out by treating the problem as an optimization problem. To find the optimized IK of the CTR, the cost function is defined to be the minimization of input force into the body cavity and the occupied area by the robot shaft body. The optimization results show that CTRs can keep the safe force range in interaction with tissue for the specified trajectories of the distal tube. Various simulation scenarios are conducted to validate the approach. Using the IK obtained from the presented approach, the tracking accuracy is achieved as 0.01 mm which is acceptable for the application.

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Rucker, Caleb, Jake Childs, Parsa Molaei y Hunter B. Gilbert. "Transverse Anisotropy Stabilizes Concentric Tube Robots". IEEE Robotics and Automation Letters 7, n.º 2 (abril de 2022): 2407–14. http://dx.doi.org/10.1109/lra.2022.3140441.

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Rucker, D. Caleb, Robert J. Webster, Gregory S. Chirikjian y Noah J. Cowan. "Equilibrium Conformations of Concentric-tube Continuum Robots". International Journal of Robotics Research 29, n.º 10 (abril de 2010): 1263–80. http://dx.doi.org/10.1177/0278364910367543.

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Till, John, Vincent Aloi, Katherine E. Riojas, Patrick L. Anderson, Robert James Webster III y Caleb Rucker. "A Dynamic Model for Concentric Tube Robots". IEEE Transactions on Robotics 36, n.º 6 (diciembre de 2020): 1704–18. http://dx.doi.org/10.1109/tro.2020.3000290.

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Tesis sobre el tema "Concentric tubes robots"

Boushaki, Mohamed Nassim. "Optimisation de la conception et commande de robot à tubes concentriques pour la chirurgie laparoscopique par accès unique". Thesis, Montpellier, 2016. http://www.theses.fr/2016MONTT294/document.

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Les robots à tubes concentriques deviennent de plus en plus populaires dans la communauté de la robotique médicale. Dans cette thèse, un état de l’art général des travaux existants et qui couvre les thématiques de recherche en robots à tubes concentriques (RTC) est présenté dans un premier temps. Les modélisations géométrique (directe et inverse) et cinématique des RTC sont détaillées car elles servent de base pour les contributions de cette thèse. La première contribution consiste en une étude de concept d’utilisation des RTCs pour la résection des tumeurs profondes situées au niveau du lobe frontal du cérveau. ‘Grid searching’a été utilisée comme méthode d’optimisation pour la conception des tubes des RTCs. Cette méthode permet d’éviter le problème crucial de présélection des coefficients de pondération, cette pondération étant nécessaire dans toutes les méthodes de scalarisation existantes dans la litérature. La méthode de ‘grid searching’ utilisée dans ce travail permet la sélection des paramères optimaux avec l’aide d’une illustration graphique de la distribution des résultats de calcul concernant les critères de séléction. La stabilité élastique due aux interactions destubes en flexion et en torsion est incluse dans les critères de séléction et est évaluée avec une nouvelle approche introduite dans ce travail. La deuxième contribution de cette thèse repose sur la synthèse d’une loi de commande qui permet de faire face aux incertitudes cinématiques dans le contrôle de mouvement des RTCs. L’étude réalisée a montré qu’un contrôle au niveau des couples moteurs avec un retour dans l’espace opérationnel et une matrice Jacobienne approchée, ce contrôle assure une robustesse en présence des incertitudes cinématiques au niveau de la matrice Jacobienne et permet d’obtenir des bonnes performances de contrôle en terme d’erreur de poursuite
Concentric Tube Robots (CTR) are becoming more and more popular in medical robotics community. In this thesis, a general literature survey on existing works covering the research topics of CTR is first presented. The kinematics of CTR is more specifically detailed since it is the basics of the main contributions of this thesis. The first contribution is a concept study of exploiting CTR for resection of deep brain tumors located at the frontal lobe. Grid searching has been used as the optimization method for the CTR tubes design. This method allows to avoid the crucial problem of weights preselection which is required in all scalarizationmethods existing in literature. Instead, the grid searching method used in this work allows to choose the optimal parameters with the help of graphical illustration of calculation results distribution with respect to the selection criteria. The elastic stability dues to the bending and torsion interaction between tubes is considered and evaluated with a new approach introduced in this work. The second contribution then is to deal with the kinematic uncertainties in motion control of CTR. The proposed control method designed at the actuator level shows that the control design of actuator input with task-space feedback and approximate Jacobian matrix provides robustness in handling inaccuracy in kinematic model and maintains good control performance at the same time

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Lods, Guillaume. "Modélisation et utilisation de la compliance des robots continus : application aux robots à tubes concentriques". Electronic Thesis or Diss., Strasbourg, 2024. http://www.theses.fr/2024STRAD045.

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Initialement développés pour automatiser les industries manufacturières, les robots sont désormais utilisés pour réaliser des interventions chirurgicales. Avec la volonté de minimiser le traumatisme des patients, les robots continus, flexibles et hautement miniaturisables, sont devenus un sujet de recherche très actif. La plupart des algo- rithmes de commande de ces robots utilisent des modèles analytiques construits à partir de la théorie de Cosserat. Cette thèse reconsidère le concept de compliance des robots continus en proposant une nouvelle définition : la matrice de compliance généralisée. Cette dernière est calculée grâce à une méthode littérale dite de "pro- pagation de dérivées bas-niveau", spécialement conçue pour permettre un calcul rapide. Ce concept de compliance généralisée est ensuite utilisé pour estimer les efforts d’interaction entre le robot et son environnement, élément indispensable pour garantir la sûreté de l’intervention. Tout au long de cette thèse, les contributions dévelop- pées pour les robots continus sont systématiquement appliquées au cas particulier des robots à tubes concentriques, à travers des simulations et des essais expérimentaux
First developed to automate production in manufacturing industries, robots are now used to assist surgical procedures. Flexible and highly miniaturizable continuum robots, allowing for the reduction of patient trauma, have raised significant interest in this field. Their study has then become an active research field. Most control algorithms developed for these robots are based on literal models derived from the Cosserat theory. This thesis reconsiders the concept of compliance for continuum robots by introducing the concept of generalized compliance matrix. This matrix is computed using a “low-level derivative propagation method” specifically designed for efficient computation. This concept of generalized compliance is then applied to estimate the interaction forces between the robot and its environment, a crucial issue for guaranteeing safe interventions. In this thesis, the contributions described for continuum robots are systematically transferred to the concentric tubes robots through simulations and experimental studies

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Girerd, Cédric. "Conception de robots à tubes concentriques et application à l'inspection des cellules olfactives". Thesis, Strasbourg, 2018. http://www.theses.fr/2018STRAD005/document.

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Ces travaux de thèse s’inscrivent dans le cadre du projet ANR NEMRO, visant à étudier le lien entre déficience olfactive et maladies neurodégénératives. A cet effet, une biopsie optique de l’épithélium olfactif doit être réalisée. Son accès est cependant impossible, aujourd’hui, avec les outils conventionnels. Pour résoudre ce problème, nous proposons l’utilisation d’un robot à tubes concentriques (RTC). Sa synthèse est réalisée à partir d’images médicales. Elle prend en compte les critères de stabilité, la variabilité inter-sujet, et est associée à un déploiement ALFI (A La File Indienne). Le dispositif étant porté par le sujet, il doit être léger et compact. Une séquence de déploiement spécifique simplifie alors l’unité d’actionnement, et une implémentation est réalisée par fabrication additive multimatériaux. L’évaluation préliminaire d’un déploiement ALFI et des éléments de technologie clés a permis de valider l’approche retenue dans le projet NEMRO, ainsi que sa faisabilité
This PhD thesis is part of the ANR NEMRO project, whose goal is to study the hypothetical correlation between olfactory deficiency and neurodegenerative diseases. For this purpose, an optical biopsy of the olfactory epithelium must be performed. However, this area is not accessible today with conventional tools. To go beyond this limitation, we propose to investigate the use a concentric tube robot (CTR). Its synthesis is performed from medical images. It takes into account the stability criteria, inter-subject variability, and is associated to a FTL (Follow-The-Leader) deployment. As the device is mounted on the subject, it has to be compact and lightweight. Thus, a specific deployment sequence simplifies the actuation unit, and an implementation is proposed using multimaterial additive manufacturing. Preliminary evaluations of the FTL deployment capabilities and the key components of the device allowed to validate the approach chosen for the NEMRO project, and its feasibility

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Oke, Isdin. "Concentric Tube Robotics: Non-Linear Trajectories for Epilepsy Surgery". Thesis, Harvard University, 2016. http://nrs.harvard.edu/urn-3:HUL.InstRepos:27007762.

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Recurrent and unprovoked epilepsy seizures affect more than 50 million people worldwide. Despite advances in antiepileptic drugs, more than 30% of patients continue to demonstrate abnormal neuronal activity; at present, this is primarily treated with surgical intervention1,2. In 80% of patients with medically intractable seizures, the epileptic focus is located in the medial temporal lobe and neurosurgical treatment of these foci requires large skin incisions, extensive bone removal, and potentially harmful excision of brain tissue, several times the size of the epileptic focus3. Minimally invasive approaches rely on straight endoscopic cannula to either deliver depth electrodes to further refine the target area or lasers to ablate the epileptogenic tissue. However, straight cannulas struggle to properly access non-linear targets such as the amydalo-hippocampal region often implicated in medial temporal lobe epilepsy. Furthermore, the cannulas must be positioned to avoid critical structures such as blood vessels and cerebrospinal fluid filled ventricles. We propose to overcome the limitations of straight cannulas by introducing curved concentric tubes to perform non-linear 3D minimally invasive trajectories. Concentric tube robots are composed of multiple superelastic Nitinol tubes arranged telescopically4. Each segment can be independently translated and rotated giving rise to two degrees of freedom that can be modeled computationally. Parameterization of the robot characteristics in conjunction with a global pattern search optimization method can determine the optimal trajectory to achieve the greatest coverage of a target volume5. Semi-automatic segmentation of MRI images can generate surface models of target structures as well as obtain coordinates for entry points and boundary constraints. In addition, we can incorporate weighted constraints for surgically critical structures such as ventricular spaces and blood vessels. We demonstrate that a multi-segmented concentric tube trajectory can consistently achieve a greater percent coverage of a target hippocampus than a manually defined linear trajectory. We also demonstrate that the total skull surface area from which the target can be approached increases as a function of trajectory complexity. Most interestingly, the magnitude of benefit for each additional segment was found to decay such that the greatest increase in target coverage occurs between N = 1 and N = 2 with very gradual improvement for N > 3. Results suggest that the addition of a single curved segment to a linear laser probe will dramatically increase both the target coverage and potential entry positions. Ultimately, the optimized parameters generated will serve as guidelines to fabricate a prototype concentric tube navigation system. As a novel non-linear surgical platform, concentric tube robotics promises an exciting advance in laser ablation neurosurgery.

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Ingram, Mark Edward. "Whole Skin Locomotion Inspired by Amoeboid Motility Mechanisms: Mechanics of the Concentric Solid Tube Model". Thesis, Virginia Tech, 2006. http://hdl.handle.net/10919/35100.

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As the technology of robotics intelligence advances, and new application areas for mobile robots increase, the need for alternative fundamental locomotion mechanisms for robots that allow them to maneuver into complex unstructured terrain becomes critical. In this research we present a novel locomotion mechanism for mobile robots inspired by the motility mechanism of certain single celled organisms such as amoebae. Whole Skin Locomotion (WSL), as we call it, works by way of an elongated toroid which turns itself inside out in a single continuous motion, effectively generating the overall motion of the cytoplasmic streaming ectoplasmic tube in amoebae. This research presents the preliminary analytical study towards the design and development of the novel WSL mechanism. In this thesis we first investigate how amoebas move, then discuss how this motion can be replicated. By applying the biological theories of amoeboid motility mechanisms, different actuation models for WSL are developed including the Fluid Filled Toroid (FFT) and Concentric Solid Tube (CST) models. Then, a quasi-static force analysis is performed for the CST model and parametric studies for design, including power efficiency and force transition characteristics, are presented.
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Granna, Josephine [Verfasser]. "Multi-objective particle swarm optimization for the structural design of concentric tube continuum robots for medical applications / Josephine Granna". Hannover : Gottfried Wilhelm Leibniz Universität Hannover, 2019. http://d-nb.info/1204458812/34.

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Capítulos de libros sobre el tema "Concentric tubes robots"

Zaccaria, Federico, Edoardo Idá y Sébastien Briot. "Singularity Conditions of Concentric Tube Robots". En Advances in Mechanism and Machine Science, 376–85. Cham: Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-45705-0_37.

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Peyron, Quentin, Kanty Rabenorosoa, Nicolas Andreff y Pierre Renaud. "Evaluation of Dynamic Relaxation to Solve Kinematics of Concentric Tube Robots". En Advances in Robot Kinematics 2018, 100–107. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-93188-3_12.

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Gilbert, Hunter B., D. Caleb Rucker y Robert J. Webster III. "Concentric Tube Robots: The State of the Art and Future Directions". En Springer Tracts in Advanced Robotics, 253–69. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-28872-7_15.

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Niyaz, Sherdil, Alan Kuntz, Oren Salzman, Ron Alterovitz y Siddhartha Srinivasa. "Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs". En Springer Proceedings in Advanced Robotics, 3–13. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-33950-0_1.

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Girerd, Cédric, Kanty Rabenorosoa y Pierre Renaud. "Combining Tube Design and Simple Kinematic Strategy for Follow-the-Leader Deployment of Concentric Tube Robots". En Advances in Robot Kinematics 2016, 23–31. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-56802-7_3.

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Zhang, Gang, Hangxing Wei, Peng Qi, Honghui Wang, Hao Cheng y Fuxin Du. "Design and Modeling of a Lightweight Concentric Tube Robot for Nasopharyngeal Surgery". En Intelligent Robotics and Applications, 409–19. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-13835-5_37.

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Webster, Robet J., John P. Swensen, Joseph M. Romano y Noah J. Cowan. "Closed-Form Differential Kinematics for Concentric-Tube Continuum Robots with Application to Visual Servoing". En Experimental Robotics, 485–94. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-00196-3_56.

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Alsaka, Tarek, Philippe Cinquin y M. Taha Chikhaoui. "Hierarchy Control of Dual-Arm Concentric Tube Continuum Robots with Different Redundancy Resolution Techniques". En Advances in Robot Kinematics 2024, 140–48. Cham: Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-64057-5_17.

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Huang, Long, Changyan He, Yang Yang y Chenhan Guang. "Equilibrium Conformation of Concentric-Tube Robots Under Loads Based on the Minimum Energy Principle". En Lecture Notes in Electrical Engineering, 209–21. Singapore: Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-2875-5_18.

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Chikhaoui, Mohamed Taha, Kanty Rabenorosoa y Nicolas Andreff. "Inverse Kinematics Analysis of a P2CuP2Cu Concentric Tube Robot with Embedded Micro-actuation for 3T-1R Contactless Tasks". En Advances in Robot Kinematics 2016, 51–59. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-56802-7_6.

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Actas de conferencias sobre el tema "Concentric tubes robots"

Grassmann, Reinhard M., Anastasiia Senyk y Jessica Burgner-Kahrs. "On the Disentanglement of Tube Inequalities in Concentric Tube Continuum Robots". En 2024 IEEE International Conference on Robotics and Automation (ICRA), 8166–72. IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10610322.

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De Groot, A. G., M. K. Welleweerd, E. B. Cornel, V. Groenhuis, S. Stramigioli y F. J. Siepel. "Computational Design Optimization of Concentric Tube Robots for Patient-Specific Volumes and End Effector Tasks". En 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 740–46. IEEE, 2024. http://dx.doi.org/10.1109/biorob60516.2024.10719890.

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Mayer, J., B. T. Steinbrenner y P. P. Pott. "Shape-locked Geometry Reduces Snapping Effects in Concentric Tube Robots". En The Hamlyn Symposium on Medical Robotics, 55–56. The Hamlyn Centre Imperial College London, 2024. http://dx.doi.org/10.31256/hsmr2024.28.

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Concentric tube robots (CTRs) increase the dexterity of surgical instruments while maintaining small instrument diameters. The tip is bent by rotating and sliding the individual, nested tubes without the need for additional tendons. However, this design may become unstable under certain conditions due to the torsional wind- up created by rotating the tubes, which is at some point released by a sudden snapping movement. Several groups have demonstrated techniques to reduce snapping [1], [2], [3], [4]. Mostly, this was achieved through anisotropic cut-outs along the tubes. Still, some regions of the workspace remain difficult to access. Swaney et al. propose an alternative approach in which two tubes with an elliptical cross-section can be used at a locked relative tube rotation that would otherwise be unstable and not reachable [5]. However, the rotation angle was not intended to vary during use. This paper resumes the concept of shape-locked CTRs in order to provide discrete stable tube configurations throughout the entire workspace, including otherwise unstable regions. The tube cross-sections are designed as matching regular polygons with n edges to prevent unintended rotation. Unlike existing approaches, the tubes can still be rotated if the applied torque is high ◦ The aim of this work is to experimentally assess whether polygonal CTRs offer more uniform coverage of the workspace than annular CTRs.

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Lu, Alex, Felipe Ramos, Jui-Te Lin y Tania K. Morimoto. "Enabling Higher Performance Concentric Tube Robots Via Multiple Constant-Curvature Tubes". En 2023 International Symposium on Medical Robotics (ISMR). IEEE, 2023. http://dx.doi.org/10.1109/ismr57123.2023.10130226.

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Sears, Patrick y Pierre Dupont. "A Steerable Needle Technology Using Curved Concentric Tubes". En 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2006. http://dx.doi.org/10.1109/iros.2006.282072.

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Mitros, Zisos, Mohsen Khadem, Carlo Seneci, Sebastien Ourselin, Lyndon Da Cruz y Christos Bergeles. "Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes". En 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob). IEEE, 2018. http://dx.doi.org/10.1109/biorob.2018.8488091.

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Dang, Khoa T., Stephen Qiu, Carter Hatch, Peter Connor, Tony Qin, Ron Alterovitz, Robert J. Webster III y Caleb Rucker. "Design of Transmission Tubes for Surgical Concentric Push-Pull Robots". En 2024 International Symposium on Medical Robotics (ISMR). IEEE, 2024. http://dx.doi.org/10.1109/ismr63436.2024.10585572.

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Kang, Paul H., Robert H. Nguyen y Thomas Looi. "A Comparison of the Workspace and Dexterity of Hybrid Concentric Tube Robot and Notched Wrist Systems". En THE HAMLYN SYMPOSIUM ON MEDICAL ROBOTICS. The Hamlyn Centre, Imperial College London London, UK, 2023. http://dx.doi.org/10.31256/hsmr2023.15.

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Concentric tube robots (CTR) and notched wrists are two technologies that have been investigated for medical applications. CTRs consist of pre-curved super-elastic tubes that are nested concentrically, and are linearly translated and axially rotated with respect to one another for movement. Separately, notched wrists are tubular instruments that can achieve large bending angles via notches that are cut into the tube and shortening actua- tion cables that run along their length. These two robotic tools have been investigated independently, but very few studies have explored combining them [1], [2]. This paper compares the workspace and dexterity of a three-tube CTR with two hybrid CTR and notch-cut wrist systems in simulation. These metrics are key in measuring the performance of robots, and particularly so for surgical robots. To perform complicated surgical tasks, it is critical to increase the number of spatial points that the robot can reach, and the number of obtainable orientations at these points.

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Saunders, Benjamin O. y John P. Swensen. "A Novel Flexible Bio-Inspired Pneumatic Valve Adapter for Soft Robotic Vasculature". En ASME 2021 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/smasis2021-68296.

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Abstract This paper proposes a novel flexible pneumatic valve adapter that seeks inspiration from vascular systems found in nature. Evolved vascular systems, such as the human cardiovascular system, pump fluid through a complex system composed of a single reservoir/pump. These systems regulate flow by systematically closing and opening valves appropriately through soft biological material constriction. The proposed pneumatic valve emulates this with two concentric flexible tubes with a single hole on the inner tube and patterned holes on the outer tube. This allows it to decrease the quantity of tubes and valves required for pneumatically actuated soft robots, with the trade-off being increased motion of the valve spool (the inner tube). Previous versions of this adapter used rigid members which decreased the number of tubes tethering the robot to a pressure source, but also hindered the soft robotic nature and movement. This adapter utilizes flexible materials to minimize the valve’s effect on the robot’s range of motion. The tubes have holes that are patterned by custom design determined by the needs of the soft robot with which it is to be used. The inner tube can be moved rotationally or translationally within the outer tube to align with designated holes to pressurize and depressurize chambers in a soft robot with only a single lightweight valve.

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Zuo, Katie, Benjamin Jackson, Ross Henry, Christos Bergeles y S. M. Hadi Sadati. "Finite Element Dynamics of a Concentric Tube Robot Motion and Interaction with Environment Using SOFA-framework". En The Hamlyn Symposium on Medical Robotics: "MedTech Reimagined". The Hamlyn Centre, Imperial College London London, UK, 2022. http://dx.doi.org/10.31256/hsmr2022.12.

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The concept of continuum and soft robotics has opened new abilities that were previously unachievable by rigid robotics alone, such as squeezing, growing, and morphing to their environments. As an example, Concentric Tube Robots (CTR) are continuum robots made of a series of pre-curved, elastic tubes where each tube can individually be rotated, as well as extended and recalled; interactions between each tube allows for turns and twists, giving control over the length and configuration of the robot. CTRs can assist in minimally invasive surgery (MIS) to access difficult to reach areas, due to the intricate human anatomy, with advantages including single-site entry and their malleable nature [1]. However, utilizing CTRs, and continuum robots in general, are not without their own challenges. Due to the complex nature of a continuum structure, fast and accurate simulations are still in development and require specific skills to operate. These simulations are not usually accurate due to the complex behaviours of the materials used and their deformable nature. SOFA (Simulation Open Framework Architecture) was introduced as an open-source platform to address some of the challenges with real-time physics-based simulation of interaction with deformable tissue in medical applications and later for modelling soft robots. More specifically, a BeamAdapter plugin2 was developed based on interpolation of a continuous geometry over multiple consecutive Timoshenko beam segments to address the simulation challenges of neurovascular interventions using interleaved catheters and guidewires [2]. The BeamAdapter plugin has been also utilized for interactive planning of coil embolization in brain aneurysms [3] and interactive training system for interventional electrocardiology procedures [4]. We have recently developed a Reduced-Order dynamic model for CTRs based on the shape interpolation of the robot backbone and showcased its real-time performance, correct estimation of the path-dependent motions and snapping instances, accurate simulations of stable and post-snapping motions in an experimental comparative study [5]. In this paper, we outline the process and the code on how a CTR model can be implemented into an example scene provided as a part of the SOFA-framework ‘BeamAdapter’ plugin [2].

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