ArticleIEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society2020
A Dynamic Model for Concentric Tube Robots.
Article in IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 9 papers.
What it found
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The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
9 citing papers in PubMed.
- A Comprehensive General Model of Tendon-Actuated Concentric Tube Robots with Multiple Tubes and Tendons.IEEE transactions on medical robotics and bionics · 2026Article
- A Novel Multishaped Variable Stiffness Magnetic Catheter for Minimally Invasive Surgery.Cyborg and bionic systems (Washington, D.C.) · 2026Article
- Towards a Tendon-Driven Robotically Steerable Guidewire with a Retractable Distal Balloon.IEEE robotics and automation letters · 2025Article
- Design, analysis, and demonstration of the COAST guidewire robot with middle tube rotation for endovascular interventions.Scientific reports · 2024Article
- Design and Modeling of a Compact Spooling Mechanism for the COAST Guidewire Robot.IEEE robotics and automation letters · 2024Article
- Continuum Robots and Magnetic Soft Robots: From Models to Interdisciplinary Challenges for Medical Applications.Micromachines · 2024Review
- Surgical Robotics for Intracerebral Hemorrhage Treatment: State of the Art and Future Directions.Annals of biomedical engineering · 2023Review
- Reduced order modeling and model order reduction for continuum manipulators: an overview.Frontiers in robotics and AI · 2023Review
- Continuum Robots for Medical Interventions.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022Article
Corrections and comments
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Authors and funding
6 authors.
Funding
Abstract
Existing static and kinematic models of concentric tube robots are based on the ordinary differential equations of a static Cosserat rod. In this paper, we provide the first dynamic model for concentric tube continuum robots by adapting the partial differential equations of a dynamic Cosserat rod to describe the coupled inertial dynamics of precurved concentric tubes. This generates an initial-boundary-value problem that can capture robot vibrations over time. We solve this model numerically at high time resolutions using implicit finite differences in time and arc length. This approach is capable of resolving the high-frequency torsional dynamics that occur during unstable "snapping" motions and provides a simulation tool that can track the true robot configuration through such transitions. Further, it can track slower oscillations associated with bending and torsion as a robot interacts with tissue at real-time speeds. Experimental verification of the model shows that this wide range of effects is captured efficiently and accurately.
Identifiers
What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.