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 proceedingConference contribution

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.
Original languageEnglish
Title of host publicationProceedings of the 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)
Place of PublicationEnschede, Netherlands
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages43-48
Number of pages6
ISBN (Electronic)978-1-5386-8183-1
ISBN (Print)978-1-5386-8184-8
DOIs
Publication statusPublished - 11 Oct 2018
Event7th IEEE International Conference on Biomedical Robotics and Biomechatronics - Enschede, Netherlands
Duration: 26 Aug 201829 Aug 2018
https://www.biorob2018.org/

Publication series

Name
PublisherIEEE
ISSN (Print)2155-1774
ISSN (Electronic)2155-1782

Conference

Conference7th IEEE International Conference on Biomedical Robotics and Biomechatronics
Abbreviated titleBiorob 2018
CountryNetherlands
CityEnschede
Period26/08/1829/08/18
Internet address

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