Matches in SemOpenAlex for { <https://semopenalex.org/work/W2000691728> ?p ?o ?g. }
Showing items 1 to 97 of
97
with 100 items per page.
- W2000691728 abstract "Concentric tube robot (CTR) comprises several precurved concentric tubes which can rotate and translate independently with respect to each other. Each pre-curved tube of a CTR can be controlled to rotate axially and translate along its axis, which enables the tip to bypass obstacles and finally reach the target position. The concentric tube robots enable surgeons to perform delicate procedures by combining the flexibility of elastic catheters with the use of operation tools, such as needles, forceps and grippers. Hence, many clinical applications of concentric tube robots are promising, such as transnasal robotic neurosurgery. Concentric tube robots are suitable for such minimally invasive surgeries because they are able to present various flexible shapes with great dexterity, which strengthens the ability of collision avoidance and enlarges the reachability of operation tools. This paper describes an image based visual servoing method to control the concentric tube robot so that it can reach a desired position. A model-less control algorithm is developed by first estimating and adjusting the Jacobian matrix based on measurement of each incremental movement traced by a single camera, and then generating the next motion using the estimated Jacobian matrix. Therefore, no kinematic model is required to control the CTR during experiments and the experimental results reveal the feasibility and accuracy of the proposed method. To the best of our knowledge, this is the first work that realizes model-less feedback control of concentric tube robots based on visual servoing." @default.
- W2000691728 created "2016-06-24" @default.
- W2000691728 creator A5001051207 @default.
- W2000691728 creator A5032340829 @default.
- W2000691728 creator A5038637903 @default.
- W2000691728 date "2014-12-01" @default.
- W2000691728 modified "2023-09-27" @default.
- W2000691728 title "An image based targeting method to guide a tentacle-like curvilinear concentric tube robot" @default.
- W2000691728 cites W1964102168 @default.
- W2000691728 cites W1980172851 @default.
- W2000691728 cites W1981454728 @default.
- W2000691728 cites W1988003703 @default.
- W2000691728 cites W2018071836 @default.
- W2000691728 cites W2033483688 @default.
- W2000691728 cites W2036915629 @default.
- W2000691728 cites W2048782002 @default.
- W2000691728 cites W2050268494 @default.
- W2000691728 cites W2059727927 @default.
- W2000691728 cites W2069715493 @default.
- W2000691728 cites W2074805944 @default.
- W2000691728 cites W2112075057 @default.
- W2000691728 cites W2116144804 @default.
- W2000691728 cites W2127143922 @default.
- W2000691728 cites W2129935047 @default.
- W2000691728 cites W2131150943 @default.
- W2000691728 cites W2161098086 @default.
- W2000691728 cites W2316914870 @default.
- W2000691728 cites W2098373580 @default.
- W2000691728 doi "https://doi.org/10.1109/robio.2014.7090361" @default.
- W2000691728 hasPublicationYear "2014" @default.
- W2000691728 type Work @default.
- W2000691728 sameAs 2000691728 @default.
- W2000691728 citedByCount "21" @default.
- W2000691728 countsByYear W20006917282015 @default.
- W2000691728 countsByYear W20006917282016 @default.
- W2000691728 countsByYear W20006917282017 @default.
- W2000691728 countsByYear W20006917282019 @default.
- W2000691728 countsByYear W20006917282022 @default.
- W2000691728 crossrefType "proceedings-article" @default.
- W2000691728 hasAuthorship W2000691728A5001051207 @default.
- W2000691728 hasAuthorship W2000691728A5032340829 @default.
- W2000691728 hasAuthorship W2000691728A5038637903 @default.
- W2000691728 hasConcept C10912380 @default.
- W2000691728 hasConcept C121332964 @default.
- W2000691728 hasConcept C127413603 @default.
- W2000691728 hasConcept C154945302 @default.
- W2000691728 hasConcept C200331156 @default.
- W2000691728 hasConcept C2524010 @default.
- W2000691728 hasConcept C2775924081 @default.
- W2000691728 hasConcept C2777551473 @default.
- W2000691728 hasConcept C28826006 @default.
- W2000691728 hasConcept C31972630 @default.
- W2000691728 hasConcept C33923547 @default.
- W2000691728 hasConcept C39920418 @default.
- W2000691728 hasConcept C41008148 @default.
- W2000691728 hasConcept C47446073 @default.
- W2000691728 hasConcept C58581272 @default.
- W2000691728 hasConcept C74650414 @default.
- W2000691728 hasConcept C78519656 @default.
- W2000691728 hasConcept C90296322 @default.
- W2000691728 hasConcept C90509273 @default.
- W2000691728 hasConceptScore W2000691728C10912380 @default.
- W2000691728 hasConceptScore W2000691728C121332964 @default.
- W2000691728 hasConceptScore W2000691728C127413603 @default.
- W2000691728 hasConceptScore W2000691728C154945302 @default.
- W2000691728 hasConceptScore W2000691728C200331156 @default.
- W2000691728 hasConceptScore W2000691728C2524010 @default.
- W2000691728 hasConceptScore W2000691728C2775924081 @default.
- W2000691728 hasConceptScore W2000691728C2777551473 @default.
- W2000691728 hasConceptScore W2000691728C28826006 @default.
- W2000691728 hasConceptScore W2000691728C31972630 @default.
- W2000691728 hasConceptScore W2000691728C33923547 @default.
- W2000691728 hasConceptScore W2000691728C39920418 @default.
- W2000691728 hasConceptScore W2000691728C41008148 @default.
- W2000691728 hasConceptScore W2000691728C47446073 @default.
- W2000691728 hasConceptScore W2000691728C58581272 @default.
- W2000691728 hasConceptScore W2000691728C74650414 @default.
- W2000691728 hasConceptScore W2000691728C78519656 @default.
- W2000691728 hasConceptScore W2000691728C90296322 @default.
- W2000691728 hasConceptScore W2000691728C90509273 @default.
- W2000691728 hasLocation W20006917281 @default.
- W2000691728 hasOpenAccess W2000691728 @default.
- W2000691728 hasPrimaryLocation W20006917281 @default.
- W2000691728 hasRelatedWork W1573700526 @default.
- W2000691728 hasRelatedWork W1978469541 @default.
- W2000691728 hasRelatedWork W2049276059 @default.
- W2000691728 hasRelatedWork W2121085532 @default.
- W2000691728 hasRelatedWork W2898892793 @default.
- W2000691728 hasRelatedWork W2922464249 @default.
- W2000691728 hasRelatedWork W3125215840 @default.
- W2000691728 hasRelatedWork W4293869118 @default.
- W2000691728 hasRelatedWork W4366330678 @default.
- W2000691728 hasRelatedWork W2475088457 @default.
- W2000691728 isParatext "false" @default.
- W2000691728 isRetracted "false" @default.
- W2000691728 magId "2000691728" @default.
- W2000691728 workType "article" @default.