Visual servoing of continuum robots: Methods, challenges, and prospects
Background Recent advancements in continuum robotics have accentuated develo**
efficient and stable controllers to handle shape deformation and compliance. The control of …
efficient and stable controllers to handle shape deformation and compliance. The control of …
RNN for repetitive motion generation of redundant robot manipulators: An orthogonal projection-based scheme
For the existing repetitive motion generation (RMG) schemes for kinematic control of
redundant manipulators, the position error always exists and fluctuates. This article gives an …
redundant manipulators, the position error always exists and fluctuates. This article gives an …
[HTML][HTML] A review on machine learning in flexible surgical and interventional robots: Where we are and where we are going
Abstract Minimally Invasive Procedures (MIPs) emerged as an alternative to more invasive
surgical approaches, offering patient benefits such as smaller incisions, less pain, and …
surgical approaches, offering patient benefits such as smaller incisions, less pain, and …
4-dof visual servoing of a robotic flexible endoscope with a predefined-time convergent and noise-immune adaptive neural network
Endoscopes provide views inside the patient's body during minimally invasive surgery.
Although various robotic endoscopes have been developed to reduce surgeons' workload in …
Although various robotic endoscopes have been developed to reduce surgeons' workload in …
Towards semi-autonomous colon screening using an electromagnetically actuated soft-tethered colonoscope based on visual servo control
Objective: Conventional colonoscopy using a flexible colonoscope remains two major
limitations, including patient discomfort and difficult manipulations for surgeons. Robotic …
limitations, including patient discomfort and difficult manipulations for surgeons. Robotic …
A family of RCM mechanisms: type synthesis and kinematics analysis
Z Wang, W Zhang, X Ding - International Journal of Mechanical Sciences, 2022 - Elsevier
The remote center-of-motion (RCM) mechanism plays an important role in surgery robotics,
exoskeleton robots, haptic devices, pointing mechanisms and so on because of the …
exoskeleton robots, haptic devices, pointing mechanisms and so on because of the …
Accelerated dual neural network controller for visual servoing of flexible endoscopic robot with tracking error, joint motion, and RCM constraints
Aiming at the requirements for endoscope in minimally invasive surgery, a dual neural
network (DNN) controller is designed for a flexible endoscopic robot (FER) with 10 DOF …
network (DNN) controller is designed for a flexible endoscopic robot (FER) with 10 DOF …
Data-driven control for continuum robots based on discrete zeroing neural networks
The effectiveness of continuous-time zeroing neural network (ZNN)(CZNN) in continuum
robot control has been preliminarily verified. However, CZNN is not friendly to digital devices …
robot control has been preliminarily verified. However, CZNN is not friendly to digital devices …
A gradient-based neural network accelerated for vision-based control of an RCM-constrained surgical endoscope robot
This paper presents an accelerated gradient-based neural network (GNN) to achieve visual
servoing of a surgical endoscope robot. A KUKA LWR 4+ robot with seven joints is used to …
servoing of a surgical endoscope robot. A KUKA LWR 4+ robot with seven joints is used to …
A novel flexible robotic endoscope with constrained tendon-driven continuum mechanism
This letter presents a novel flexible robotic endoscope with a constrained tendon-driven
continuum mechanism (CTCM) which is targeted for bariatric surgery. The robotic …
continuum mechanism (CTCM) which is targeted for bariatric surgery. The robotic …