Bibliografie tematiche / Concentric tubes robots

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Letteratura scientifica selezionata sul tema "Concentric tubes robots"

Autore: Grafiati
Pubblicato: 1 marzo 2025

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Articoli di riviste sul tema "Concentric tubes robots"

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Liu, Tianxiang, Gang Zhang, Peng Zhang, et al. "Modeling of and Experimenting with Concentric Tube Robots: Considering Clearance, Friction and Torsion." Sensors 23, no. 7 (2023): 3709. http://dx.doi.org/10.3390/s23073709.

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Abstract (sommario):
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
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Garriga-Casanovas, Arnau, and Ferdinando Rodriguez y Baena. "Complete follow-the-leader kinematics using concentric tube robots." International Journal of Robotics Research 37, no. 1 (2017): 197–222. http://dx.doi.org/10.1177/0278364917746222.

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Abstract (sommario):
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 p
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Ha, Junhyoung, and Pierre E. Dupont. "Designing Stable Concentric Tube Robots Using Piecewise Straight Tubes." IEEE Robotics and Automation Letters 2, no. 1 (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, et al. "A modular, multi-arm concentric tube robot system with application to transnasal surgery for orbital tumors." International Journal of Robotics Research 40, no. 2-3 (2021): 521–33. http://dx.doi.org/10.1177/02783649211000074.

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Abstract (sommario):
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 tr
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Modes, Vincent, and Jessica Burgner-Kahrs. "Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes." IEEE Robotics and Automation Letters 5, no. 1 (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, et al. "Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles." Journal of Medical Robotics Research 02, no. 01 (2017): 1750001. http://dx.doi.org/10.1142/s2424905x17500015.

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

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Abstract (sommario):
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 int
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Rucker, Caleb, Jake Childs, Parsa Molaei, and Hunter B. Gilbert. "Transverse Anisotropy Stabilizes Concentric Tube Robots." IEEE Robotics and Automation Letters 7, no. 2 (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, and Noah J. Cowan. "Equilibrium Conformations of Concentric-tube Continuum Robots." International Journal of Robotics Research 29, no. 10 (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, and Caleb Rucker. "A Dynamic Model for Concentric Tube Robots." IEEE Transactions on Robotics 36, no. 6 (2020): 1704–18. http://dx.doi.org/10.1109/tro.2020.3000290.

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Tesi sul tema "Concentric tubes robots"

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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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Abstract (sommario):
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
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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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Abstract (sommario):
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 généralisé
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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
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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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Abstract (sommario):
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 in
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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 mot
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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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Capitoli di libri sul tema "Concentric tubes robots"

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Zaccaria, Federico, Edoardo Idá, and Sébastien Briot. "Singularity Conditions of Concentric Tube Robots." In Advances in Mechanism and Machine Science. 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, and Pierre Renaud. "Evaluation of Dynamic Relaxation to Solve Kinematics of Concentric Tube Robots." In Advances in Robot Kinematics 2018. 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, and Robert J. Webster III. "Concentric Tube Robots: The State of the Art and Future Directions." In Springer Tracts in Advanced Robotics. 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, and Siddhartha Srinivasa. "Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs." In Springer Proceedings in Advanced Robotics. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-33950-0_1.

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Girerd, Cédric, Kanty Rabenorosoa, and Pierre Renaud. "Combining Tube Design and Simple Kinematic Strategy for Follow-the-Leader Deployment of Concentric Tube Robots." In Advances in Robot Kinematics 2016. 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, and Fuxin Du. "Design and Modeling of a Lightweight Concentric Tube Robot for Nasopharyngeal Surgery." In Intelligent Robotics and Applications. 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, and Noah J. Cowan. "Closed-Form Differential Kinematics for Concentric-Tube Continuum Robots with Application to Visual Servoing." In Experimental Robotics. Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-00196-3_56.

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Alsaka, Tarek, Philippe Cinquin, and M. Taha Chikhaoui. "Hierarchy Control of Dual-Arm Concentric Tube Continuum Robots with Different Redundancy Resolution Techniques." In Advances in Robot Kinematics 2024. 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, and Chenhan Guang. "Equilibrium Conformation of Concentric-Tube Robots Under Loads Based on the Minimum Energy Principle." In Lecture Notes in Electrical Engineering. Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-2875-5_18.

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

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Atti di convegni sul tema "Concentric tubes robots"

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Grassmann, Reinhard M., Anastasiia Senyk, and Jessica Burgner-Kahrs. "On the Disentanglement of Tube Inequalities in Concentric Tube Continuum Robots." In 2024 IEEE International Conference on Robotics and Automation (ICRA). 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, and F. J. Siepel. "Computational Design Optimization of Concentric Tube Robots for Patient-Specific Volumes and End Effector Tasks." In 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). IEEE, 2024. http://dx.doi.org/10.1109/biorob60516.2024.10719890.

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

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

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Sears, Patrick, and Pierre Dupont. "A Steerable Needle Technology Using Curved Concentric Tubes." In 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, and Christos Bergeles. "Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes." In 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, et al. "Design of Transmission Tubes for Surgical Concentric Push-Pull Robots." In 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, and Thomas Looi. "A Comparison of the Workspace and Dexterity of Hybrid Concentric Tube Robot and Notched Wrist Systems." In 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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Abstract (sommario):
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],
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Saunders, Benjamin O., and John P. Swensen. "A Novel Flexible Bio-Inspired Pneumatic Valve Adapter for Soft Robotic Vasculature." In 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
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Zuo, Katie, Benjamin Jackson, Ross Henry, Christos Bergeles, and S. M. Hadi Sadati. "Finite Element Dynamics of a Concentric Tube Robot Motion and Interaction with Environment Using SOFA-framework." In 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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Abstract (sommario):
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 t
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