Details
| Original language | English |
|---|---|
| Title of host publication | ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications |
| Editors | Donald Bailey, Serge Demidenko, G. Sen Gupta |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 211-216 |
| Number of pages | 6 |
| ISBN (electronic) | 9781479964666 |
| Publication status | Published - 6 Apr 2015 |
| Event | 6th International Conference on Automation, Robotics and Applications, ICARA 2015 - Queenstown, New Zealand Duration: 17 Feb 2015 → 19 Feb 2015 |
Abstract
Flexible endoscopes are a common instrument for different tasks in minimally invasive surgery. The motion and capability of resistance against manipulation forces of common endoscopes is restricted due to their flexibility. They tend to form loops and stress their surroundings. This paper proposes an active shaft concept based on a new actuation concept: the shaft is a hyper-redundant snake-like robot with binary electromagnetic actuators. This system combines good path following capabilities through actively controlling the whole endoscope body with good resistance with respect to manipulation forces through electromagnetism. The functional concept is presented and the influence of design parameters on kinematic characteristics such as workspace and radius of curvature is evaluated. Additionally, a set of kinematic design parameters is synthesized by minimizing the contouring error. Therefore, a path fitting algorithm is proposed.
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Artificial Intelligence
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Computer Science Applications
Cite this
- Standard
- Harvard
- Apa
- Vancouver
- BibTeX
- RIS
ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications. ed. / Donald Bailey; Serge Demidenko; G. Sen Gupta. Institute of Electrical and Electronics Engineers Inc., 2015. p. 211-216 7081149.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - The kinematic synthesis of a spatial, hyper-redundant system based on binary electromagnetic actuators
AU - Tappe, Svenja
AU - Dörbaum, Michael
AU - Mertens, Axel
AU - Ponick, Bernd
AU - Kotlarski, Jens
AU - Ortmaier, Tobias
PY - 2015/4/6
Y1 - 2015/4/6
N2 - Flexible endoscopes are a common instrument for different tasks in minimally invasive surgery. The motion and capability of resistance against manipulation forces of common endoscopes is restricted due to their flexibility. They tend to form loops and stress their surroundings. This paper proposes an active shaft concept based on a new actuation concept: the shaft is a hyper-redundant snake-like robot with binary electromagnetic actuators. This system combines good path following capabilities through actively controlling the whole endoscope body with good resistance with respect to manipulation forces through electromagnetism. The functional concept is presented and the influence of design parameters on kinematic characteristics such as workspace and radius of curvature is evaluated. Additionally, a set of kinematic design parameters is synthesized by minimizing the contouring error. Therefore, a path fitting algorithm is proposed.
AB - Flexible endoscopes are a common instrument for different tasks in minimally invasive surgery. The motion and capability of resistance against manipulation forces of common endoscopes is restricted due to their flexibility. They tend to form loops and stress their surroundings. This paper proposes an active shaft concept based on a new actuation concept: the shaft is a hyper-redundant snake-like robot with binary electromagnetic actuators. This system combines good path following capabilities through actively controlling the whole endoscope body with good resistance with respect to manipulation forces through electromagnetism. The functional concept is presented and the influence of design parameters on kinematic characteristics such as workspace and radius of curvature is evaluated. Additionally, a set of kinematic design parameters is synthesized by minimizing the contouring error. Therefore, a path fitting algorithm is proposed.
UR - http://www.scopus.com/inward/record.url?scp=84928778723&partnerID=8YFLogxK
U2 - 10.1109/icara.2015.7081149
DO - 10.1109/icara.2015.7081149
M3 - Conference contribution
AN - SCOPUS:84928778723
SP - 211
EP - 216
BT - ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications
A2 - Bailey, Donald
A2 - Demidenko, Serge
A2 - Gupta, G. Sen
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Automation, Robotics and Applications, ICARA 2015
Y2 - 17 February 2015 through 19 February 2015
ER -