Page 34 - Flexible Robotics in Medicine
P. 34
16 Chapter 1
in: 2016 IEEE International Conference on Robotics and Automation (ICRA), IEEE, May 2016,
pp. 4429 4435.
[50] A. Gao, R.J. Murphy, H. Liu, I.I. Iordachita, M. Armand, Mechanical model of dexterous continuum
manipulators with compliant joints and tendon/external force interactions, IEEE/ASME Trans. Mechatron.
22 (1) (2017) 465 475.
[51] R.J. Murphy, M.S. Moses, M.D. Kutzer, G.S. Chirikjian, M. Armand, Constrained workspace generation
for snake-like manipulators with applications to minimally invasive surgery, in: 2013 IEEE International
Conference on Robotics and Automation (ICRA), IEEE, May 2013, pp. 5341 5347.
[52] M.D. Kutzer, S.M. Segreti, C.Y. Brown, M. Armand, R.H. Taylor, S.C. Mears, Design of a new cable-
driven manipulator with a large open lumen: preliminary applications in the minimally-invasive removal
of osteolysis, in: 2011 IEEE International Conference on Robotics and Automation (ICRA), IEEE, May
2011, pp. 2913 2920.
[53] D.B. Camarillo, C.F. Milne, C.R. Carlson, M.R. Zinn, J.K. Salisbury, Mechanics modeling of tendon-
driven continuum manipulators, IEEE Trans. Robot. 24 (6) (2008) 1262 1273.
[54] S.B. Kesner, R.D. Howe, Position control of motion compensation cardiac catheters, IEEE Trans. Robot.
27 (6) (2011) 1045 1055.
[55] A. Gao, Y. Zou, Z. Wang, H. Liu, A general friction model of discrete interactions for tendon actuated
dexterous manipulators, J. Mech. Robot. 9 (4) (2017) 041019.
[56] C. Shi, X. Luo, P. Qi, T. Li, S. Song, Z. Najdovski, et al., Shape sensing techniques for continuum robots
in minimally invasive surgery: a survey, IEEE Trans. Biomed. Eng. 64 (8) (2017) 1665 1678.
[57] S. Song, Z. Li, M.Q.H. Meng, H. Yu, H. Ren, Real-time shape estimation for wire-driven flexible robots
with multiple bending sections based on quadratic Bezier curves, IEEE Sens. J. 15 (11) (2015) 6326 6334.
[58] S. Song, Z. Li, H. Yu, H. Ren, Electromagnetic positioning for tip tracking and shape sensing of flexible
robots, IEEE Sens. J. 15 (8) (2015) 4565 4575.
[59] S. Song, Z. Li, H. Yu, H. Ren, Shape reconstruction for wire-driven flexible robots based on Be ´zier curve
and electromagnetic positioning, Mechatronics 29 (2015) 28 35.
[60] S. Tully, G. Kantor, H. Choset, Inequality constrained Kalman filtering for the localization and
registration of a surgical robot, in: 2011 IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS), IEEE, September 2011a, pp. 5147 5152.
[61] S. Tully, G. Kantor, M.A. Zenati, H. Choset, Shape estimation for image-guided surgery with a highly
articulated snake robot, in: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS), IEEE, September 2011b, pp. 1353 1358.
[62] S. Tully, A. Bajo, G. Kantor, H. Choset, N. Simaan, Constrained filtering with contact detection data for
the localization and registration of continuum robots in flexible environments, in: ICRA, May 2012,
pp. 3388 3394.
[63] R.A. Srivatsan, M. Travers, H. Choset, Using Lie algebra for shape estimation of medical snake robots,
in: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), IEEE,
September 2014, pp. 3483 3488.
[64] S. Tully, H. Choset, A filtering approach for image-guided surgery with a highly articulated surgical
snake robot, IEEE Trans. Biomed. Eng. 63 (2) (2016) 392 402.
[65] D.C. Rucker, R.J. Webster, Deflection-based force sensing for continuum robots: a probabilistic approach,
in: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, September
2011, pp. 3764 3769.
[66] K. Xu, N. Simaan, An investigation of the intrinsic forcesensing capabilitiess of continuum robots, IEEE
Trans. Robot. 24 (3) (2008) 576 587.
[67] C.B. Black, J. Till, D.C. Rucker, Parallel continuum robots: modeling, analysis, and actuation-based force
sensing, IEEE Trans. Robot. 34 (1) (2018) 29 47.
[68] H. Yuan, P.W.Y. Chiu, Z. Li, Shape-reconstruction-based force sensing method for continuum surgical
robots with large deformation, IEEE Robot. Autom. Lett. 2 (4) (2017) 1972 1979. Available from:
, https://www.polyu.edu.hk/web/en/media/media_releases/index_id_6197.html . .