Matches in SemOpenAlex for { <https://semopenalex.org/work/W4312313892> ?p ?o ?g. }
- W4312313892 abstract "Concentric tube robots (CTR) are a type of flexible robot with a small size. Conventional CTR is normally actuated by lead-screws. Such actuation method normally has a limited movement speed as well as a large weight. This paper addresses these challenges by proposing a novel actuating mechanism based on universal friction wheel sleeves, which can be used to actuate CTR. A teleoperated control system is designed to control the CTR. Kinematic analysis of the mechanism is also derived in this work. The results of validation experiments reveal a high accuracy of the actuating mechanism. The translation error could reach less than 0.1mm, while the rotation error is less than 0.05° with closed-loop control. The repeatability of this mechanism is proven to be high with an average error of about 0.1mm. The actuating mechanism also has high stability, which can move stably at a speed up to 50 mm/s. Finally, a preliminary study with the deployed concentric tubes is carried out to demonstrate the bending, translation and rotation motion of the CTR system. To sum up, the movement speed can be improved by using this novel actuating mechanism while maintaining a high control accuracy. This could potentially improve the performance of the interventions/surgeries. In addition, the mechanism can be used to build a handheld CTR due to its lightweight and modularized design." @default.
- W4312313892 created "2023-01-04" @default.
- W4312313892 creator A5007822830 @default.
- W4312313892 creator A5049667624 @default.
- W4312313892 creator A5050076555 @default.
- W4312313892 creator A5061391892 @default.
- W4312313892 creator A5062008721 @default.
- W4312313892 creator A5070500491 @default.
- W4312313892 creator A5079650655 @default.
- W4312313892 date "2022-07-09" @default.
- W4312313892 modified "2023-10-16" @default.
- W4312313892 title "A Novel Actuating Mechanism for Concentric Tube Robots based on Universal Friction Wheel Sleeves" @default.
- W4312313892 cites W1543001792 @default.
- W4312313892 cites W1576716892 @default.
- W4312313892 cites W1987421030 @default.
- W4312313892 cites W2018071836 @default.
- W4312313892 cites W2038638896 @default.
- W4312313892 cites W2042351682 @default.
- W4312313892 cites W2063706473 @default.
- W4312313892 cites W2095999605 @default.
- W4312313892 cites W2116144804 @default.
- W4312313892 cites W2131150943 @default.
- W4312313892 cites W2134175607 @default.
- W4312313892 cites W2134555091 @default.
- W4312313892 cites W2138564331 @default.
- W4312313892 cites W2156199850 @default.
- W4312313892 cites W2164013717 @default.
- W4312313892 cites W2165965943 @default.
- W4312313892 cites W2184993170 @default.
- W4312313892 cites W2622402076 @default.
- W4312313892 cites W2757789151 @default.
- W4312313892 cites W2785688106 @default.
- W4312313892 cites W2888138457 @default.
- W4312313892 cites W2901701174 @default.
- W4312313892 cites W2904200469 @default.
- W4312313892 cites W2929897791 @default.
- W4312313892 cites W2979336337 @default.
- W4312313892 cites W2980467558 @default.
- W4312313892 cites W2990588373 @default.
- W4312313892 cites W3016601897 @default.
- W4312313892 cites W3113578006 @default.
- W4312313892 cites W3135365533 @default.
- W4312313892 cites W3189250457 @default.
- W4312313892 cites W4210927443 @default.
- W4312313892 cites W4211225190 @default.
- W4312313892 cites W4220755253 @default.
- W4312313892 cites W4285031047 @default.
- W4312313892 doi "https://doi.org/10.1109/icarm54641.2022.9959108" @default.
- W4312313892 hasPublicationYear "2022" @default.
- W4312313892 type Work @default.
- W4312313892 citedByCount "1" @default.
- W4312313892 countsByYear W43123138922023 @default.
- W4312313892 crossrefType "proceedings-article" @default.
- W4312313892 hasAuthorship W4312313892A5007822830 @default.
- W4312313892 hasAuthorship W4312313892A5049667624 @default.
- W4312313892 hasAuthorship W4312313892A5050076555 @default.
- W4312313892 hasAuthorship W4312313892A5061391892 @default.
- W4312313892 hasAuthorship W4312313892A5062008721 @default.
- W4312313892 hasAuthorship W4312313892A5070500491 @default.
- W4312313892 hasAuthorship W4312313892A5079650655 @default.
- W4312313892 hasConcept C104317684 @default.
- W4312313892 hasConcept C105580179 @default.
- W4312313892 hasConcept C121332964 @default.
- W4312313892 hasConcept C127413603 @default.
- W4312313892 hasConcept C149364088 @default.
- W4312313892 hasConcept C154945302 @default.
- W4312313892 hasConcept C161759796 @default.
- W4312313892 hasConcept C172707124 @default.
- W4312313892 hasConcept C185592680 @default.
- W4312313892 hasConcept C18762648 @default.
- W4312313892 hasConcept C2524010 @default.
- W4312313892 hasConcept C2775924081 @default.
- W4312313892 hasConcept C2777551473 @default.
- W4312313892 hasConcept C33923547 @default.
- W4312313892 hasConcept C39920418 @default.
- W4312313892 hasConcept C41008148 @default.
- W4312313892 hasConcept C44154836 @default.
- W4312313892 hasConcept C47446073 @default.
- W4312313892 hasConcept C55493867 @default.
- W4312313892 hasConcept C58581272 @default.
- W4312313892 hasConcept C62520636 @default.
- W4312313892 hasConcept C74050887 @default.
- W4312313892 hasConcept C74650414 @default.
- W4312313892 hasConcept C78519656 @default.
- W4312313892 hasConcept C89611455 @default.
- W4312313892 hasConcept C90296322 @default.
- W4312313892 hasConcept C90509273 @default.
- W4312313892 hasConceptScore W4312313892C104317684 @default.
- W4312313892 hasConceptScore W4312313892C105580179 @default.
- W4312313892 hasConceptScore W4312313892C121332964 @default.
- W4312313892 hasConceptScore W4312313892C127413603 @default.
- W4312313892 hasConceptScore W4312313892C149364088 @default.
- W4312313892 hasConceptScore W4312313892C154945302 @default.
- W4312313892 hasConceptScore W4312313892C161759796 @default.
- W4312313892 hasConceptScore W4312313892C172707124 @default.
- W4312313892 hasConceptScore W4312313892C185592680 @default.
- W4312313892 hasConceptScore W4312313892C18762648 @default.
- W4312313892 hasConceptScore W4312313892C2524010 @default.
- W4312313892 hasConceptScore W4312313892C2775924081 @default.
- W4312313892 hasConceptScore W4312313892C2777551473 @default.