ArticleIEEE robotics and automation letters2025
Model-based Parameter Selection for a Steerable Continuum Robot - Applications to Bronchoalveolar Lavage (BAL).
Article in IEEE robotics and automation letters, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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Who cites it
2 citing papers in PubMed.
- Single twistable tendon-driven continuum robots.Nature communications · 2026Article
- Analysis of Needle Placement Error During Prostate Biopsies in Real Clinical Cases: Effects of Needle Tip Orientation and Target Location.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2025Article
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5 authors.
Funding
Abstract
Bronchoalveolar lavage (BAL) is a minimally invasive procedure for diagnosing lung infections and diseases. However, navigating tortuous lung anatomy to the distal branches of the bronchoalveolar tree for adequate sampling using BAL remains challenging. Continuum robots have been used to improve the navigation of guidewires, catheters, and endoscopes and could be applied to the BAL procedure as well. One class of continuum robots is constructed from a notched tube and actuated using a tendon. Many tendon-driven notched continuum robots use uniform machining parameters to achieve approximately constant-curvature configurations, which may be unsuitable for traversing the tortuous anatomy of the lungs. This paper presents a model that predicts the curvature of a robot with arbitrary notch shapes subjected to tendon tension. The model predicted the deflection of rectangular, elliptical, and sinusoidal notches in a 0.89 mm diameter nitinol tube with 2.32%, 3.65%, and 6.32% error, respectively. Furthermore, an algorithm is developed to determine the optimal pattern of notches to achieve a desired nonuniform robot curvature. A simulated robot designed using the algorithm achieved the desired shape with a root mean square error (RMSE) of 1.52°. Additionally, we present a model for predicting the shape of nonuniformly notched continuum robots which incorporates friction and pre-curvature. This model predicted the shape of a continuum robot with nonuniform rectangular notches with an average RMSE of 5.20° with respect to the actual robot. We also demonstrated navigating the continuum robot through a pulmonary phantom.
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