Kinematic Modeling of an EAP Actuated Continuum Robot for Active Micro-endoscopy
نویسندگان
چکیده
An active micro-endoscope based on concentric tubes, an emerging class of continuum robots, is presented hereby. It is designed to reach the digestive tube and the stomach for early cancer detection and intervention. The manipulator is constructed from three flexible, telescopic, and actuated tubes. The actuators are based on Electro-Active Polymer electrodes coated and patterned around the tube. A full multi-section kinematic model is developed; it is used to compare the existing constant curvature configuration to the proposed micro-endoscope. That comparison is established according to the reachable workspace and the performance indices. The results are used to prove the effectiveness of the embedded actuation method to reach the workspace more dexterously, which is very useful in medical systems, especially in surgical applications.
منابع مشابه
Towards clinical application of continuum active micro-endoscope robot based on EAP actuation
Continuum robots have shown astounding abilities in the medical field as numerous robotized devices have emerged. For instance, colonoscopes, arthroscopes, catheters, endoscopes, and other medical tools have been developed [1]. Their ability to navigate through complex anatomy and narrow spaces represent the attractive features of continuum robots. We foresee to improve their usefulness for Min...
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