| 000 | 02640 am a22003133u 4500 | ||
|---|---|---|---|
| 042 | _adc | ||
| 100 | 1 | 0 |
_aWu, Zicong _eauthor _92716 |
| 700 | 1 | 0 |
_aDe Iturrate Reyzabal, Mikel _eauthor _92717 |
| 700 | 1 | 0 |
_aSadati, S.M.Hadi _eauthor _92718 |
| 700 | 1 | 0 |
_aLiu, Hongbin _eauthor _92719 |
| 700 | 1 | 0 |
_aOurselin, Sebastien _eauthor _92720 |
| 700 | 1 | 0 |
_aLeff, Daniel _eauthor _92721 |
| 700 | 1 | 0 |
_aKatzschmann, Robert K. _eauthor _92722 |
| 700 | 1 | 0 |
_aRhode, Kawal _eauthor _92723 |
| 700 | 1 | 0 |
_aBergeles, Christos _eauthor _92724 |
| 245 | 0 | 0 | _aTowards A Physics-based Model for Steerable Eversion Growing Robots |
| 260 | _c2023-02. | ||
| 500 | _a/pmc/articles/PMC7614130/ | ||
| 500 | _a/pubmed/36733442 | ||
| 520 | _aSoft 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 | _a | ||
| 540 | _ahttps://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 | _ahttps://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 | _aen | ||
| 690 | _aArticle | ||
| 655 | 7 |
_aText _2local |
|
| 786 | 0 | _nIEEE Robot Autom Lett | |
| 856 | 4 | 1 |
_uhttp://dx.doi.org/10.1109/LRA.2023.3234823 _zConnect to this object online. |
| 999 |
_c2227 _d2227 |
||