Design and Control of Concentric-Tube Robots
Identifieur interne : 001858 ( Ncbi/Merge ); précédent : 001857; suivant : 001859Design and Control of Concentric-Tube Robots
Auteurs : Pierre E. Dupont ; Jesse Lock ; Brandon Itkowitz ; Evan ButlerSource :
- IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society [ 1552-3098 ] ; 2010.
Abstract
A novel approach toward construction of robots is based on a concentric combination of precurved elastic tubes. By rotation and extension of the tubes with respect to each other, their curvatures interact elastically to position and orient the robot’s tip, as well as to control the robot’s shape along its length. In this approach, the flexible tubes comprise both the links and the joints of the robot. Since the actuators attach to the tubes at their proximal ends, the robot itself forms a slender curve that is well suited for minimally invasive medical procedures. This paper demonstrates the potential of this technology. Design principles are presented and a general kinematic model incorporating tube bending and torsion is derived. Experimental demonstration of real-time position control using this model is also described.
Url:
DOI: 10.1109/TRO.2009.2035740
PubMed: 21258648
PubMed Central: 3022350
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Design and Control of Concentric-Tube Robots</title><author><name sortKey="Dupont, Pierre E" sort="Dupont, Pierre E" uniqKey="Dupont P" first="Pierre E." last="Dupont">Pierre E. Dupont</name></author><author><name sortKey="Lock, Jesse" sort="Lock, Jesse" uniqKey="Lock J" first="Jesse" last="Lock">Jesse Lock</name></author><author><name sortKey="Itkowitz, Brandon" sort="Itkowitz, Brandon" uniqKey="Itkowitz B" first="Brandon" last="Itkowitz">Brandon Itkowitz</name></author><author><name sortKey="Butler, Evan" sort="Butler, Evan" uniqKey="Butler E" first="Evan" last="Butler">Evan Butler</name></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">21258648</idno><idno type="pmc">3022350</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3022350</idno><idno type="RBID">PMC:3022350</idno><idno type="doi">10.1109/TRO.2009.2035740</idno><date when="2010">2010</date><idno type="wicri:Area/Pmc/Corpus">000F50</idno><idno type="wicri:Area/Pmc/Curation">000F50</idno><idno type="wicri:Area/Pmc/Checkpoint">001F23</idno><idno type="wicri:Area/Ncbi/Merge">001858</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Design and Control of Concentric-Tube Robots</title><author><name sortKey="Dupont, Pierre E" sort="Dupont, Pierre E" uniqKey="Dupont P" first="Pierre E." last="Dupont">Pierre E. Dupont</name></author><author><name sortKey="Lock, Jesse" sort="Lock, Jesse" uniqKey="Lock J" first="Jesse" last="Lock">Jesse Lock</name></author><author><name sortKey="Itkowitz, Brandon" sort="Itkowitz, Brandon" uniqKey="Itkowitz B" first="Brandon" last="Itkowitz">Brandon Itkowitz</name></author><author><name sortKey="Butler, Evan" sort="Butler, Evan" uniqKey="Butler E" first="Evan" last="Butler">Evan Butler</name></author></analytic><series><title level="j">IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society</title><idno type="ISSN">1552-3098</idno><idno type="eISSN">1941-0468</idno><imprint><date when="2010">2010</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p id="P1">A novel approach toward construction of robots is based on a concentric combination of precurved elastic tubes. By rotation and extension of the tubes with respect to each other, their curvatures interact elastically to position and orient the robot’s tip, as well as to control the robot’s shape along its length. In this approach, the flexible tubes comprise both the links and the joints of the robot. Since the actuators attach to the tubes at their proximal ends, the robot itself forms a slender curve that is well suited for minimally invasive medical procedures. This paper demonstrates the potential of this technology. Design principles are presented and a general kinematic model incorporating tube bending and torsion is derived. Experimental demonstration of real-time position control using this model is also described.</p></div></front></TEI><pmc article-type="research-article" xml:lang="EN"><pmc-comment>The publisher of this article does not allow downloading of the full text in XML form.</pmc-comment>
<pmc-dir>properties manuscript</pmc-dir>
<front><journal-meta><journal-id journal-id-type="nlm-journal-id">101514509</journal-id><journal-id journal-id-type="pubmed-jr-id">36499</journal-id><journal-id journal-id-type="nlm-ta">IEEE Trans Robot</journal-id><journal-title>IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society</journal-title><issn pub-type="ppub">1552-3098</issn><issn pub-type="epub">1941-0468</issn></journal-meta><article-meta><article-id pub-id-type="pmid">21258648</article-id><article-id pub-id-type="pmc">3022350</article-id><article-id pub-id-type="doi">10.1109/TRO.2009.2035740</article-id><article-id pub-id-type="manuscript">NIHMS251097</article-id><article-categories><subj-group subj-group-type="heading"><subject>Article</subject></subj-group></article-categories><title-group><article-title>Design and Control of Concentric-Tube Robots</article-title></title-group><contrib-group><contrib contrib-type="author"><name><surname>Dupont</surname><given-names>Pierre E.</given-names></name><role>Senior Member, IEEE</role><aff id="A1">P. E. Dupont was with the Department of Mechanical Engineering, Boston University, Boston, MA 02215 USA. He is now with the Department of Cardiovascular Surgery, Children’s Hospital Boston, Harvard Medical School, Boston, MA 02115 USA (<email>pierre.dupont@childrens.harvard.edu</email>)</aff></contrib><contrib contrib-type="author"><name><surname>Lock</surname><given-names>Jesse</given-names></name><aff id="A2">J. Lock is with the Department of Biomedical Engineering, Boston University, Boston, MA 02215 USA (<email>lockj@bu.edu</email>)</aff></contrib><contrib contrib-type="author"><name><surname>Itkowitz</surname><given-names>Brandon</given-names></name><aff id="A3">B. Itkowitz was with the Department of Electrical and Computer Systems Engineering, Boston University, Boston, MA 02215 USA. He is now with Intuitive Surgical, Inc., Sunnyvale, CA 94086-5304 USA (<email>bitkowitz@gmail.com</email>)</aff></contrib><contrib contrib-type="author"><name><surname>Butler</surname><given-names>Evan</given-names></name><role>Student Member, IEEE</role><aff id="A4">E. Butler is with the Department of Mechanical Engineering, Boston University, Boston, MA 02215 USA (<email>evanb@bu.edu</email>)</aff></contrib></contrib-group><pub-date pub-type="nihms-submitted"><day>9</day><month>11</month><year>2010</year></pub-date><pub-date pub-type="ppub"><day>1</day><month>4</month><year>2010</year></pub-date><pub-date pub-type="pmc-release"><day>1</day><month>4</month><year>2011</year></pub-date><volume>26</volume><issue>2</issue><fpage>209</fpage><lpage>225</lpage><permissions><copyright-statement>© 2009 IEEE</copyright-statement><copyright-year>2009</copyright-year></permissions><abstract><p id="P1">A novel approach toward construction of robots is based on a concentric combination of precurved elastic tubes. By rotation and extension of the tubes with respect to each other, their curvatures interact elastically to position and orient the robot’s tip, as well as to control the robot’s shape along its length. In this approach, the flexible tubes comprise both the links and the joints of the robot. Since the actuators attach to the tubes at their proximal ends, the robot itself forms a slender curve that is well suited for minimally invasive medical procedures. This paper demonstrates the potential of this technology. Design principles are presented and a general kinematic model incorporating tube bending and torsion is derived. Experimental demonstration of real-time position control using this model is also described.</p></abstract><kwd-group><kwd>Continuum robots</kwd><kwd>flexible arms</kwd><kwd>kinematics</kwd><kwd>medical robots and systems</kwd><kwd>telerobotics</kwd></kwd-group><contract-num rid="HL1">R01 HL087797-04
||HL</contract-num><contract-sponsor id="HL1">National Heart, Lung, and Blood Institute : NHLBI</contract-sponsor></article-meta></front></pmc><affiliations><list></list><tree><noCountry><name sortKey="Butler, Evan" sort="Butler, Evan" uniqKey="Butler E" first="Evan" last="Butler">Evan Butler</name><name sortKey="Dupont, Pierre E" sort="Dupont, Pierre E" uniqKey="Dupont P" first="Pierre E." last="Dupont">Pierre E. Dupont</name><name sortKey="Itkowitz, Brandon" sort="Itkowitz, Brandon" uniqKey="Itkowitz B" first="Brandon" last="Itkowitz">Brandon Itkowitz</name><name sortKey="Lock, Jesse" sort="Lock, Jesse" uniqKey="Lock J" first="Jesse" last="Lock">Jesse Lock</name></noCountry></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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