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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Gilbert, H.B. Webster, R.J. |
| Copyright Year | 2013 |
| Description | Author affiliation: Mech. Eng. Dept., Vanderbilt Univ., Nashville, TN, USA (Gilbert, H.B.; Webster, R.J.) |
| Abstract | Continuum robots have opened a broad array of applications to robotics in general, and the concentric tube continuum robots promise many benefits in medicine. Many people intuitively assume that these robots can deploy along a curved trajectory, in such a way that the curved shape of the robot's shaft remains unchanged as the tip progresses forward (i.e. “follow-the-leader” deployment). This capability would be useful in advancing along winding lumens (e.g. blood vessels, lung bronchi, etc.), as well as when the device is embedded in soft tissue and used as a steerable needle. However, in this paper we show that deploying in a follow-the-leader manner is not possible except in very special cases of tube precurvatures, combined with specific deployment sequences. We also show that follow-the-leader deployment is not possible even for many of the “simple” cases where one might intuitively expect it to be. Fortunately, useful special cases of perfect follow-the-leader behavior do exist, and we provide examples and describe the conditions that must be satisfied for this to be possible. We also study approximate follow-the-leader behavior, proposing a metric to quantify the similarity of a general deployment to a follow-the-leader deployment. |
| Starting Page | 4881 |
| Ending Page | 4887 |
| File Size | 724496 |
| Page Count | 7 |
| File Format | |
| ISBN | 9781467356411 |
| ISSN | 10504729 |
| e-ISBN | 9781467356435 |
| DOI | 10.1109/ICRA.2013.6631274 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-05-06 |
| Publisher Place | Germany |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robots Needles Biopsy |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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