Least-Squares Fitting of Two 3-D Point Sets
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Nonholonomic Modeling of Needle Steering
International Journal of Robotics Research
Kinematics for multisection continuum robots
IEEE Transactions on Robotics
Practical Kinematics for Real-Time Implementation of Continuum Robots
IEEE Transactions on Robotics
Image-Guided Robotic Flexible Needle Steering
IEEE Transactions on Robotics
A novel mechatronic tool for computer-assisted arthroscopy
IEEE Transactions on Information Technology in Biomedicine
Configuration tracking for continuum manipulators with coupled tendon drive
IEEE Transactions on Robotics
Mechanics of bending, torsion, and variable precurvature in multi-tube active cannulas
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Motion planning for active cannulas
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A guaranteed approach for kinematic analysis of continuum robot based catheter
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Equilibrium Conformations of Concentric-tube Continuum Robots
International Journal of Robotics Research
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review
International Journal of Robotics Research
A geometrically exact model for externally loaded concentric-tube continuum robots
IEEE Transactions on Robotics
Development of an endoscopic continuum robot to enable transgastric surgical obesity treatment
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
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This paper presents a new Class of thin, dexterous continuum robot, which we call active cannulas due to their potential medical applications. An active cannula is composed of telescoping, concentric, precurved superelastic tubes that can be axially translated and rotated at the base relative to one another. Active cannulas derive bending not from tendon wires or other external mechanisn 15 but from elastic tube interaction in the backbone itself, permitting high dexterity and small size, and dexterity improves with miniaturization. They are designed to traverse narrow and winding environments without relying on "guiding" environmental reaction forces. These features seem ideal for a variety of applications where a very thin robot with tentacle-like dexterity is needed. In this paper, we apply beam mechanics to obtain a kinematic model of active cannula shape and describe design tools that result from them modeling process. After deriving general equations, we apply them to a simple three-link active cannula. Experimental results illustrate the importance of including torsional effects and the ability of our model to predict energy bifurcation and active cannula shape.