ArticleIEEE robotics and automation letters2017
Continuum Reconfigurable Parallel Robots for Surgery: Shape Sensing and State Estimation with Uncertainty.
Article in IEEE robotics and automation letters, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Who cites it
3 citing papers in PubMed.
- Unified Shape and External Load State Estimation for Continuum Robots.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2024Article
- Improved Continuum Joint Configuration Estimation Using a Linear Combination of Length Measurements and Optimization of Sensor Placement.Frontiers in robotics and AI · 2021Article
- Toward Asymptotically-Optimal Inspection Planning via Efficient Near-Optimal Graph Search.Robotics science and systems : online proceedings · 2019Article
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Authors and funding
3 authors.
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Abstract
This paper examines shape sensing for a new class of surgical robot that consists of parallel flexible structures that can be reconfigured inside the human body. Known as CRISP robots, these devices provide access to the human body through needle-sized entry points, yet can be configured into truss-like structures capable of dexterous movement and large force application. They can also be reconfigured as needed during a surgical procedure. Since CRISP robots are elastic, they will deform when subjected to external forces or other perturbations. In this paper, we explore how to combine sensor information with mechanics-based models for CRISP robots to estimate their shapes under applied loads. The end result is a shape sensing framework for CRISP robots that will enable future research on control under applied loads, autonomous motion, force sensing, and other robot behaviors.
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Registered trials
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