Continuum Robots for Medical Applications: A Survey
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Cites background from "Continuum Robots for Medical Applic..."
...For example, in the biomedical field, surgical instruments are an ideal application for soft robotics (55), and soft robotics is finding applications in rehabilitation (56) and assistance (57–59)....
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594 citations
Cites background from "Continuum Robots for Medical Applic..."
...To cope with the substantial friction experienced while navigating highly unstructured environments (5, 32), we grew hydrogel skin (33), a thin (10 to 25 m) layer of hydrated cross-linked polymers, onto the robot’s surface....
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...Surgeons benefit from remotely controlled continuum robots, which allow them to work away from the radiation source required for real-time imaging during operations (5, 6)....
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569 citations
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References
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"Continuum Robots for Medical Applic..." refers background or methods in this paper
...equations can be derived straightforwardly by considering the equilibrium of a section of rod [as in Antman’s approach [127]) and as shown in Fig....
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...since the Cosserat brothers (Eugene and Francois) originally developed them in the early 20th century, and nonlinear elasticity research such as Antman’s [127] has been a resource for several...
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1,604 citations
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"Continuum Robots for Medical Applic..." refers background in this paper
...Section II gives an overview of the robotics science that underlies all medical continuum robot systems, organized by the broad themes of design, modeling, and control....
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...Kinematically, continuum robot structures possess infinitely many DOFs....
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...Active model-based impedance control using sensor measurements of actuator force and robot deflection has also been shown to address the compliance/strength tradeoff from a higher level control framework [99], [100], but flexibility may still limit the maximum force the robot can apply....
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1,497 citations