Paper Info
Title
Real-Time Dynamics of Concentric Tube Robots With Reduced-Order Kinematics Based on Shape Interpolation
Abstract
Concentric tube robots (CTRs) are catheter-like robots that can navigate anatomical lumen to reach surgical targets that are deep inside the body. While CTRs have been extensively studied in quasi-static conditions, unique robot behaviours such as hysteresis and snapping, i.e. the sudden release of elastic energy accumulated due to robot tubes' twisting, are relatively under-explored. For the first time, we present a real-time dynamic model that captures both snapping and hysteresis for CTRs with arbitrary number of tubes and precurved shape. We pursue Reduced-Order Modelling (ROM) with shape interpolation-based kinematics to reach a system of minimal states appropriate for ultimate real-time non-linear control. We implement and incorporate our theoretical contributions within the open-source modelling software package TMTDyn and make them available to the robotics community. Our method is experimentally verified using a highly curved CTR that undertakes complex 3D dynamic motions, for the first time predicting similar pathways during highly nonlinear snapping motions, which is when classical models fail, while preserving the state-of-the-art modeling accuracy of approximate to 6% mean error.
Year
DOI
Venue
2022
10.1109/LRA.2022.3151399
IEEE ROBOTICS AND AUTOMATION LETTERS
Keywords
DocType
Volume
Concentric tube, continuum robot, reduced-order model, snapping, TMT dynamics
Journal
7
Issue
ISSN
Citations 
2
2377-3766
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
S. M. Hadi Sadati100.34
Zisos Mitros232.38
Ross Henry300.34
Lingyun Zeng400.34
Lyndon da Cruz500.34
Christos Bergeles63610.69