JOM KITA KE POLITEKNIK

Towards A Physics-based Model for Steerable Eversion Growing Robots (Record no. 2227)

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Personal name Wu, Zicong
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9 (RLIN) 2716
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Title Towards A Physics-based Model for Steerable Eversion Growing Robots
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Date of publication, distribution, etc. 2023-02.
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General note /pmc/articles/PMC7614130/
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General note /pubmed/36733442
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Summary, etc. Soft robots that grow through eversion/apical extension can effectively navigate fragile environments such as ducts and vessels inside the human body. This paper presents the physics-based model of a miniature steerable eversion growing robot. We demonstrate the robot's growing, steering, stiffening and interaction capabilities. The interaction between two robot-internal components is explored, i.e., a steerable catheter for robot tip orientation, and a growing sheath for robot elongation/retraction. The behavior of the growing robot under different inner pressures and external tip forces is investigated. Simulations are carried out within the SOFA framework. Extensive experimentation with a physical robot setup demonstrates agreement with the simulations. The comparison demonstrates a mean absolute error of 10 - 20% between simulation and experimental results for curvature values, including catheter-only experiments, sheath-only experiments and full system experiments. To our knowledge, this is the first work to explore physics-based modelling of a tendon-driven steerable eversion growing robot. While our work is motivated by early breast cancer detection through mammary duct inspection and uses our MAMMOBOT robot prototype, our approach is general and relevant to similar growing robots.
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Terms governing use and reproduction
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Terms governing use and reproduction https://creativecommons.org/licenses/by/4.0/This work is licensed under a CC BY 4.0 (https://creativecommons.org/licenses/by/4.0/) International license.
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Terms governing use and reproduction https://creativecommons.org/licenses/by/4.0/open access, the author has applied for a Creative Commons Attribution (CC BY) licence to any Author Accepted Manuscript version arising. https://creativecommons.org/licenses/by/4.0/
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Language note en
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Personal name De Iturrate Reyzabal, Mikel
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9 (RLIN) 2717
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Personal name Sadati, S.M.Hadi
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9 (RLIN) 2718
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Personal name Liu, Hongbin
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9 (RLIN) 2719
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Personal name Ourselin, Sebastien
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9 (RLIN) 2720
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Personal name Leff, Daniel
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9 (RLIN) 2721
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Personal name Katzschmann, Robert K.
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9 (RLIN) 2722
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Personal name Rhode, Kawal
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9 (RLIN) 2723
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Personal name Bergeles, Christos
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9 (RLIN) 2724
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Note IEEE Robot Autom Lett
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Uniform Resource Identifier <a href="http://dx.doi.org/10.1109/LRA.2023.3234823">http://dx.doi.org/10.1109/LRA.2023.3234823</a>
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