4 accepted papers
In this paper, we propose a probabilistic motion model for tendon actuated continuum robots that experience actuation transmission non-linearities due to cable slack and cable-sheath friction. The model is based on a Lie group formulation of the robot’s end-effector pose that incorporates a new simp
Optical coherence tomography (OCT) endoscopic catheters provide efficient solutions for the non-invasive scan of malignant tissues in internal human organs. In this letter, we investigate the image-guided control of a robotic flexible endoscopic system equipped with an OCT probe for autonomous tissu
Accurate control of continuum robots requires handling non-linear behaviors between actuators and distal effectors. In this letter, we develop a method for estimating the non-linearities of tendon-driven degrees of freedom of flexible endoscopic systems by using a distal endoscopic camera and encode
Non-linearities in cable transmissions are important limitations for the accurate control of flexible instruments used in medical endoscopic systems. Hysteresis effects greatly impact the accuracy of conventional kinematic models. This is especially critical for implementing automatic motions in fle…