10 accepted papers
Tendon-driven continuum robots (TDCR) are widely used in medical interventions due to their inherent dexterity and compliance. However, precise motion planning and control of these robots remain challenging, largely because existing models do not accurately capture tendon frictional hysteresis. Pred
In this study, we rediscovered the framework of generative adversarial networks (GANs) as a solver for calibration problems without data correspondence. When data correspondence is not present or loosely established, the calibration problem becomes a parameter estimation problem that aligns the two
A vision system attached to a manipulator excels at tracing a moving target object while effectively handling obstacles, overcoming limitations arising from the camera's confined field of view and occluded line of sight. Meanwhile, the manipulator may encounter certain challenges, including restrict
Concentric Tube Robots (CTRs) have been proposed to operate within the unstructured environment for minimally invasive surgeries. In this letter, we consider the operation scenario where the tubes travel inside the channels with a large clearance or large curvature, such as aortas or industrial pipe
In this paper, we proposed a novel path replanning algorithm on arbitrary graphs. To avoid computationally heavy preprocessing and to reduce required memory to store the expanded vertices of the previous search, we defined the feature vertices, which are extracted from the previous path by a simple…
With the current trend of dwindling life cycle of production, necessity of systems with high-adaptability is on the rise. With their high adaptability and easy maintenance, reconfigurable manipulators are strong candidates to replace conventional non-reconfigurable manipulators in such trend. Howeve
This paper presents a novel continuum robot sheath for use in single-port minimally invasive procedures such as neuroendoscopy in which the sheath is designed to deliver multiple robotic arms. Articulation of the sheath is achieved by using precurved superelastic tubes lining the working channels us…
Concentric tube robots experience elastic instability when the potential energy stored in torsional twisting of the tubes is suddenly released. To date, ensuring stability for all possible rotational configurations has involved constraining the precurvatures and/or precurved lengths of the tubes com
Mechanics-based formulations of concentric tube robots incorporate tube bending and twisting, but do not include other phenomena that could model observed hysteretic behavior in which tube configurations reached by rotating tubes in different directions achieve different tip positions. As a step tow…
Although existing mechanics-based models of concentric tube robots have been experimentally demonstrated to approximate the actual kinematics, determining accurate estimates of model parameters remains difficult due to the complex relationship between the parameters and available measurements. Furth…