Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes

Zisos Mitros; Seyedmohsen Khadem; Carlo Seneci; Sebastien Ourselin; Lyndon Da Cruz; Christos  Bergeles

doi:10.1109/BIOROB.2018.8488091

Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes

Zisos Mitros, Seyedmohsen Khadem, Carlo Seneci, Sebastien Ourselin, Lyndon Da Cruz, Christos Bergeles

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract / Description of output

This paper presents and experimentally evaluates a quasistatic mechanics-based model that describes the shape of concentric tube robotic (CTR) arms when they are eccentrically arranged along an also-flexible backbone. The model can estimate the shape of both the backbone and CTR arms, and can accommodate an arbitrary number of CTR arms arranged in an eccentric position with regards to the backbone's neutral axis. Experimental evaluation with a prototype system on the benchtop highlights the promise of the end-to-end proposed modelling approach, as the error between model and experiment is around 11% of the manipulator's overall length. The theory is the first step towards modeling multi-arm concentric tube robots, a class of continuum robots that is increasingly being considered for single-port surgical applications.

Original language	English
Title of host publication	Proceedings of the 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)
Place of Publication	Enschede, Netherlands
Publisher	Institute of Electrical and Electronics Engineers
Pages	43-48
Number of pages	6
ISBN (Electronic)	978-1-5386-8183-1
ISBN (Print)	978-1-5386-8184-8
DOIs	https://doi.org/10.1109/BIOROB.2018.8488091
Publication status	Published - 11 Oct 2018
Event	7th IEEE International Conference on Biomedical Robotics and Biomechatronics - Enschede, Netherlands Duration: 26 Aug 2018 → 29 Aug 2018 https://www.biorob2018.org/

Publication series

Name
Publisher	IEEE
ISSN (Print)	2155-1774
ISSN (Electronic)	2155-1782

Conference

Conference	7th IEEE International Conference on Biomedical Robotics and Biomechatronics
Abbreviated title	Biorob 2018
Country/Territory	Netherlands
City	Enschede
Period	26/08/18 → 29/08/18
Internet address	https://www.biorob2018.org/

Access to Document

10.1109/BIOROB.2018.8488091

https://ieeexplore.ieee.org/abstract/document/8488091

Cite this

Mitros, Z., Khadem, S., Seneci, C., Ourselin, S., Da Cruz, L., & Bergeles, C. (2018). Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes. In Proceedings of the 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) (pp. 43-48). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/BIOROB.2018.8488091

@inproceedings{d1b4585dfc6d4c7381ad437341a50ca9,

title = "Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes",

abstract = "This paper presents and experimentally evaluates a quasistatic mechanics-based model that describes the shape of concentric tube robotic (CTR) arms when they are eccentrically arranged along an also-flexible backbone. The model can estimate the shape of both the backbone and CTR arms, and can accommodate an arbitrary number of CTR arms arranged in an eccentric position with regards to the backbone's neutral axis. Experimental evaluation with a prototype system on the benchtop highlights the promise of the end-to-end proposed modelling approach, as the error between model and experiment is around 11% of the manipulator's overall length. The theory is the first step towards modeling multi-arm concentric tube robots, a class of continuum robots that is increasingly being considered for single-port surgical applications.",

author = "Zisos Mitros and Seyedmohsen Khadem and Carlo Seneci and Sebastien Ourselin and {Da Cruz}, Lyndon and Christos Bergeles",

year = "2018",

month = oct,

day = "11",

doi = "10.1109/BIOROB.2018.8488091",

language = "English",

isbn = "978-1-5386-8184-8",

publisher = "Institute of Electrical and Electronics Engineers",

pages = "43--48",

booktitle = "Proceedings of the 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)",

address = "United States",

note = "7th IEEE International Conference on Biomedical Robotics and Biomechatronics, Biorob 2018 ; Conference date: 26-08-2018 Through 29-08-2018",

url = "https://www.biorob2018.org/",

}

Mitros, Z, Khadem, S, Seneci, C, Ourselin, S, Da Cruz, L & Bergeles, C 2018, Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes. in Proceedings of the 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob). Institute of Electrical and Electronics Engineers, Enschede, Netherlands, pp. 43-48, 7th IEEE International Conference on Biomedical Robotics and Biomechatronics, Enschede, Netherlands, 26/08/18. https://doi.org/10.1109/BIOROB.2018.8488091

Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes. / Mitros, Zisos; Khadem, Seyedmohsen; Seneci, Carlo et al.
Proceedings of the 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob). Enschede, Netherlands: Institute of Electrical and Electronics Engineers, 2018. p. 43-48.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes

AU - Mitros, Zisos

AU - Khadem, Seyedmohsen

AU - Seneci, Carlo

AU - Ourselin, Sebastien

AU - Da Cruz, Lyndon

AU - Bergeles, Christos

PY - 2018/10/11

Y1 - 2018/10/11

N2 - This paper presents and experimentally evaluates a quasistatic mechanics-based model that describes the shape of concentric tube robotic (CTR) arms when they are eccentrically arranged along an also-flexible backbone. The model can estimate the shape of both the backbone and CTR arms, and can accommodate an arbitrary number of CTR arms arranged in an eccentric position with regards to the backbone's neutral axis. Experimental evaluation with a prototype system on the benchtop highlights the promise of the end-to-end proposed modelling approach, as the error between model and experiment is around 11% of the manipulator's overall length. The theory is the first step towards modeling multi-arm concentric tube robots, a class of continuum robots that is increasingly being considered for single-port surgical applications.

AB - This paper presents and experimentally evaluates a quasistatic mechanics-based model that describes the shape of concentric tube robotic (CTR) arms when they are eccentrically arranged along an also-flexible backbone. The model can estimate the shape of both the backbone and CTR arms, and can accommodate an arbitrary number of CTR arms arranged in an eccentric position with regards to the backbone's neutral axis. Experimental evaluation with a prototype system on the benchtop highlights the promise of the end-to-end proposed modelling approach, as the error between model and experiment is around 11% of the manipulator's overall length. The theory is the first step towards modeling multi-arm concentric tube robots, a class of continuum robots that is increasingly being considered for single-port surgical applications.

U2 - 10.1109/BIOROB.2018.8488091

DO - 10.1109/BIOROB.2018.8488091

M3 - Conference contribution

SN - 978-1-5386-8184-8

SP - 43

EP - 48

BT - Proceedings of the 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)

PB - Institute of Electrical and Electronics Engineers

CY - Enschede, Netherlands

T2 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics

Y2 - 26 August 2018 through 29 August 2018

ER -

Mitros Z, Khadem S, Seneci C, Ourselin S, Da Cruz L, Bergeles C. Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes. In Proceedings of the 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob). Enschede, Netherlands: Institute of Electrical and Electronics Engineers. 2018. p. 43-48 doi: 10.1109/BIOROB.2018.8488091

Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes

Abstract / Description of output

Publication series

Conference

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Cite this