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System design of an Insertable Robotic Effector Platform for Single Port Access (SPA) Surgery
2009
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
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This paper presents a novel design and preliminary kinematic analysis of an Insertable Robotic Effector Platform (IREP) for Single Port Access (SPA) Surgery. ...
It consists of two snake-like continuum robots as slave surgical assistants for tissue manipulation, two parallelogram mechanisms for the continuum robots' placement, and one controllable stereo vision ...
Hogle's help in project development and lab support. ...
doi:10.1109/iros.2009.5354028
dblp:conf/iros/XuGDAFS09
fatcat:rjzor2unzrbnlpr7rbpkyurxf4
Design, Kinematics and Controlling a Novel Soft Robot Arm with Parallel Motion
2018
Robotics
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The performance of the soft robot arm presented is explained, then another design of the horizontal motion continuum robot arm is proposed, using two self-bending contraction actuators (SBCA) in series ...
This article presents a novel design for a double bend pneumatic muscle actuator (DB-PMA) inspired by snake lateral undulation. ...
Conflicts of Interest: The authors declare no conflict of interest. ...
doi:10.3390/robotics7020019
fatcat:uroiact76bafrd5aixuefhatl4
High Dexterity Snake-Like Robotic Slaves for Minimally Invasive Telesurgery of the Upper Airway
[chapter]
2004
Lecture Notes in Computer Science
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This paper reports our efforts to develop an integrated system for telesurgery of the throat and upper airway. The system is described while focusing on the novel design of its slave robot. ...
The proposed design of the DDU's provides an enhanced downsize scalability and distal dexterity that are crucial for medical applications such as laryngeal surgery where simultaneous manipulation of 2- ...
This work was partially funded by the National Science Foundation (NSF) under Engineering Research Center grant #EEC9731478, NSF grant #IIS9801684, and by the Johns Hopkins University internal funds. ...
doi:10.1007/978-3-540-30136-3_3
fatcat:3voefytoqfgnlkunjxyc2pckdi
The i2Snake Robotic Platform for Endoscopic Surgery
2018
Annals of Biomedical Engineering
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The proposed robotic platform design focuses on ergonomics and intuitive control. The control workflow was first validated in simulation and then implemented on the robotic platform. ...
of the i 2 Snake; and a master interface for master-slave teleoperation. ...
The motion of the snake robot is combined with the motion of the KUKA using IK control for a more intuitive teleoperation and is solved in two steps described in the system control section. ...
doi:10.1007/s10439-018-2066-y
pmid:29948372
fatcat:7tv7slkk35e6rimutmb5mbuvhe
Design and architecture of the unified modular snake robot
2012
2012 IEEE International Conference on Robotics and Automation
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The design of a hyper-redundant serial-linkage snake robot is the focus of this paper. The snake, which consists of many fully enclosed actuators, incorporates a modular architecture. ...
Each module includes a motor and gear train, an SMA wire actuated bistable brake, custom electronics featuring several different sensors, and a custom intermodule connector. ...
ACKNOWLEDGEMENTS The authors gratefully acknowledge the contribution of all of the members of the Biorobotics Lab who helped construct and maintain the Unified Snake robot. ...
doi:10.1109/icra.2012.6225255
dblp:conf/icra/WrightBBGSRTC12
fatcat:4o3tbtdlpjevpnkevg43gwvvfi
HISSbot: Sidewinding with a Soft Snake Robot
[article]
2023
arXiv
pre-print
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We propose a novel means of constructing a soft snake robot capable of sidewinding, and introduce the Helical Inflating Soft Snake Robot (HISSbot). ...
Soft snake robots are a subset of these robots which utilize soft, compliant actuators to produce movement. Prior work on soft snake robots has primarily focused on planar gaits, such as undulation. ...
[23] , presents an insect-sized flapping wing robot, with separate controls for powering the flapping motion and guiding the angle of the wing. ...
arXiv:2303.15732v1
fatcat:kvlbmaeodrchfnfwh4g4rvfwdq
A review on Snake-like Continuum Robots for Medical Surgeries
2019
IOP Conference Series: Materials Science and Engineering
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In this paper, current state of structure, modelling and actuation in snake like robot is provided. ...
This paper describes the various applications of Continuum robots in the field of medical science. These robots are biologically inspired by trunks and snakes. ...
There are different examples of feasible robotic structures which include mounting of a snake like link, an industrial robot or design actuator [11] . ...
doi:10.1088/1757-899x/691/1/012093
fatcat:nyyetpnmpvbene6sjykfgary6a
Snake Robots for Surgical Applications: A Review
2022
Robotics
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Although substantial advancements have been achieved in robot-assisted surgery, the blueprint to existing snake robotics predominantly focuses on the preliminary structural design, control, and human–robot ...
We present the types of actuation methods, robot kinematics, dynamics, sensing, and prospects of AR integration in snake robots, whilst addressing their shortcomings to facilitate the surgeon's task. ...
[110] , integrated pneumatic actuators were utilised in the design and control of the OmniTread OT-4 robot, which were a series of pneumatic bellows linked to its body, providing two DOF motion to the ...
doi:10.3390/robotics11030057
fatcat:vgpup2mp2vg65ikna66z4vzzsa
Design and control of a second-generation hyper-redundant mechanism
2007
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
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The robot is composed of six actuated universal joints which are serially chained to construct a twelve degrees of freedom snake-like robot optimized for strength and compactness. ...
This robot has substantial advantages over our previous design iteration, "Snoopy," in terms of cost and performance. ...
Naturally, we are also interested in optimizing our design for minimum backlash and compliance while maintaining a reasonable speed of motion. ...
doi:10.1109/iros.2007.4399504
dblp:conf/iros/BrownSSC07
fatcat:7myo4b4ohnepbmunnf222fo3n4
A survey of snake-inspired robot designs
2009
Bioinspiration & Biomimetics
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Body undulation used by snakes and the physical architecture of a snake body may offer significant benefits over typical legged or wheeled locomotion designs in certain types of scenarios. ...
The purpose of this paper is to report different types of snake-inspired robot designs and categorize them based on their main characteristics. ...
This research has been supported by NSF grants DMI-0457058 and OCI-0636164. Opinions expressed in this paper are those of the authors and do not necessarily reflect opinions of the sponsors. ...
doi:10.1088/1748-3182/4/2/021001
pmid:19158415
fatcat:43k7lvfco5hbhdnxqn4u2olojq
Special Feature on Bio-Inspired Robotics
2018
Applied Sciences
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Conflicts of Interest: The authors declare no conflict of interest. ...
Systems and IEEE Systems, Man, and Cybernetics Society (SMC) Technical Committee on Bio-Mechatronics and Bio-Robotics Systems. ...
A series elastic actuator model is used as the plant model for an observer used in feedback control of the actuator [25] . ...
doi:10.3390/app8050817
fatcat:umcpvvryxbfnvlmwvlcmsynj3q
Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat
2009
The international journal of robotics research
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This method uses a tiered hierarchy of two novel approaches of actuation compensation for remotely actuated snake-like robots. ...
We present the kinematics of the telesurgical slave and methods for actuation compensation to cancel the effects of backlash, friction, and flexibility of the actuation lines. ...
National Institutes of Health (NIH) under Grant R21 EB004457-01, and in part by Johns Hopkins University and Columbia University internal funds. ...
doi:10.1177/0278364908104278
pmid:20160881
pmcid:PMC2772168
fatcat:b5v426eeazdkjhiutaj5qttfxy
Torque control strategies for snake robots
2014
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
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We present three methods of achieving compliant motion with a snake robot by controlling the torques exerted by the joints of the robot. ...
The three control strategies are implemented and compared on a snake robot that includes series elastic actuation (SEA) and torque sensing at each joint, and demonstrate compliant locomotion that adapts ...
ACKNOWLEDGEMENTS The authors would like to thank Leif Jentoft and Gill Pratt for their work in simulating low-impedance torque control for snake robots, which laid the groundwork for most of Section IV ...
doi:10.1109/iros.2014.6942694
dblp:conf/iros/RollinsonAZC14
fatcat:amoo75if5ja25niuag4zrbahue
Integrated Joint Actuator for Serpentine Robots
2005
IEEE/ASME transactions on mechatronics
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The key advantages of our design over other joint actuation methods are its great strength combined with controllable compliance and minimal space requirements. ...
This system, which we call "Integrated Joint Actuator," also allows simultaneous proportional control of position and stiffness of the joint. ...
Department of Energy under Award No. DE-FG04-86NE3796. We are also grateful to graduate student Malik Hansen for his work on designing and building the OmniTread segments. ...
doi:10.1109/tmech.2005.856222
fatcat:jovvmcdcbfay7k5sfy3bayqhge
Hyper-redundant robot manipulators actuated by optimized binary-dielectric polymers
2002
Smart Structures and Materials 2002: Electroactive Polymer Actuators and Devices (EAPAD)
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The polymer actuators can make such devices feasible. This paper presents the design of a modular polymer actuator that can work under both tension and compression. ...
This manipulator uses binary actuation and belongs to a class of digital mechanisms that are able to perform precise discrete motions without the need for sensing and feedback control. ...
The authors would like to thank Peter Weiss and Ebraheem Fontaine for their help in actuator development and fabrication of prototypes. ...
doi:10.1117/12.475189
fatcat:ouuncjlp3bdfjlvrjmloafthqi
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