Towards A Physics-based Model for Steerable Eversion Growing Robots (Record no. 2227)
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042 ## - AUTHENTICATION CODE | |
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Authentication code | dc |
100 10 - MAIN ENTRY--PERSONAL NAME | |
Personal name | Wu, Zicong |
Relator term | author |
9 (RLIN) | 2716 |
245 00 - TITLE STATEMENT | |
Title | Towards A Physics-based Model for Steerable Eversion Growing Robots |
260 ## - PUBLICATION, DISTRIBUTION, ETC. | |
Date of publication, distribution, etc. | 2023-02. |
500 ## - GENERAL NOTE | |
General note | /pmc/articles/PMC7614130/ |
500 ## - GENERAL NOTE | |
General note | /pubmed/36733442 |
520 ## - SUMMARY, ETC. | |
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. |
540 ## - TERMS GOVERNING USE AND REPRODUCTION NOTE | |
Terms governing use and reproduction | |
540 ## - TERMS GOVERNING USE AND REPRODUCTION NOTE | |
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. |
540 ## - TERMS GOVERNING USE AND REPRODUCTION NOTE | |
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/ |
546 ## - LANGUAGE NOTE | |
Language note | en |
690 ## - LOCAL SUBJECT ADDED ENTRY--TOPICAL TERM (OCLC, RLIN) | |
Topical term or geographic name as entry element | Article |
655 7# - INDEX TERM--GENRE/FORM | |
Genre/form data or focus term | Text |
Source of term | local |
700 10 - ADDED ENTRY--PERSONAL NAME | |
Personal name | De Iturrate Reyzabal, Mikel |
Relator term | author |
9 (RLIN) | 2717 |
700 10 - ADDED ENTRY--PERSONAL NAME | |
Personal name | Sadati, S.M.Hadi |
Relator term | author |
9 (RLIN) | 2718 |
700 10 - ADDED ENTRY--PERSONAL NAME | |
Personal name | Liu, Hongbin |
Relator term | author |
9 (RLIN) | 2719 |
700 10 - ADDED ENTRY--PERSONAL NAME | |
Personal name | Ourselin, Sebastien |
Relator term | author |
9 (RLIN) | 2720 |
700 10 - ADDED ENTRY--PERSONAL NAME | |
Personal name | Leff, Daniel |
Relator term | author |
9 (RLIN) | 2721 |
700 10 - ADDED ENTRY--PERSONAL NAME | |
Personal name | Katzschmann, Robert K. |
Relator term | author |
9 (RLIN) | 2722 |
700 10 - ADDED ENTRY--PERSONAL NAME | |
Personal name | Rhode, Kawal |
Relator term | author |
9 (RLIN) | 2723 |
700 10 - ADDED ENTRY--PERSONAL NAME | |
Personal name | Bergeles, Christos |
Relator term | author |
9 (RLIN) | 2724 |
786 0# - DATA SOURCE ENTRY | |
Note | IEEE Robot Autom Lett |
856 41 - ELECTRONIC LOCATION AND ACCESS | |
Uniform Resource Identifier | <a href="http://dx.doi.org/10.1109/LRA.2023.3234823">http://dx.doi.org/10.1109/LRA.2023.3234823</a> |
Public note | Connect to this object online. |
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