ArticleIEEE robotics and automation letters2023
Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Disks.
Article in IEEE robotics and automation letters, 2023. 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.
- Design, Modeling, and Experimental Verification of a Fully Decoupled Tendon-Driven Humanoid Arm.Biomimetics (Basel, Switzerland) · 2026Article
- A Pre-Grasping Motion Planning Method Based on Improved Artificial Potential Field for Continuum Robots.Sensors (Basel, Switzerland) · 2023Article
- A multifunctional soft robot for cardiac interventions.Science advances · 2023Article
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Authors and funding
9 authors.
Funding
Abstract
Toward the future goal of creating a lung surgery system featuring multiple tentacle-like robots, we present a new folding concept for continuum robots that enables them to squeeze through openings smaller than the robot's nominal diameter (e.g., the narrow space between adjacent ribs). This is facilitated by making the disks along the robot's backbone foldable. We also demonstrate that such a robot can feature not only straight, but also curved tendon routing paths, thereby achieving a diverse family of conformations. We find that the foldable robot performs comparably, from a kinematic perspective, to an identical non-folding continuum robot at varying deployment lengths. This work paves the way for future applications with a continuum robot that can fold and fit through smaller openings, with the potential to reduce invasiveness during surgical tasks.
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Registered trials
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