Sciweavers

Share
IJRR
2010

Equilibrium Conformations of Concentric-tube Continuum Robots

8 years 8 months ago
Equilibrium Conformations of Concentric-tube Continuum Robots
Robots consisting of several concentric, preshaped, elastic tubes can work dexterously in narrow, constrained, and/or winding spaces, as are commonly found in minimally invasive surgery. Previous models of these ‘active cannulas’ assume piecewise constant precurvature of component tubes and neglect torsion in curved sections of the device. In this paper we develop a new coordinate-free energy formulation that accounts for general preshaping of an arbitrary number of component tubes, and which explicitly includes both bending and torsion throughout the device. We show that previously reported models are special cases of our formulation, and then explore in detail the implications of torsional flexibility for the special case of two tubes. Experiments demonstrate that this framework is more descriptive of physical prototype behavior than previous models; it reduces model prediction error by 82% over the calibrated bending-only model, and 17% over the calibrated transmissional torsi...
D. Caleb Rucker, Robert J. Webster III, Gregory S.
Added 28 Jan 2011
Updated 28 Jan 2011
Type Journal
Year 2010
Where IJRR
Authors D. Caleb Rucker, Robert J. Webster III, Gregory S. Chirikjian, Noah J. Cowan
Comments (0)
books