
Publications
2021 |
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![]() | Xu, Yunti; Peyron, Quentin; Kim, Jongwoo; Burgner-Kahrs, Jessica Design of Lightweight and Extensible Tendon-Driven Continuum Robots using Origami Patterns Inproceedings 4th IEEE International Conference on Soft Robotics (RoboSoft) Accepted, 2021. BibTeX | Tags: continuum robot, design, extensible, follow-the-leader, origami, tendon-driven continuum robots @inproceedings{Xu2021, title = {Design of Lightweight and Extensible Tendon-Driven Continuum Robots using Origami Patterns}, author = {Yunti Xu and Quentin Peyron and Jongwoo Kim and Jessica Burgner-Kahrs}, year = {2021}, date = {2021-04-12}, booktitle = {4th IEEE International Conference on Soft Robotics (RoboSoft) Accepted}, keywords = {continuum robot, design, extensible, follow-the-leader, origami, tendon-driven continuum robots}, pubstate = {published}, tppubtype = {inproceedings} } |
![]() | Modes, Vincent; Ortmaier, Tobias; Burgner-Kahrs, Jessica Shape Sensing Based on Longitudinal Strain Measurements Considering Elongation, Bending and Twisting Journal Article IEEE Sensors Journal, 21 (5), pp. 6712-6723, 2021. Abstract | Links | BibTeX | Tags: continuum robot, modeling, shape sensing @article{Modes2020b, title = {Shape Sensing Based on Longitudinal Strain Measurements Considering Elongation, Bending and Twisting}, author = {Vincent Modes and Tobias Ortmaier and Jessica Burgner-Kahrs }, doi = {10.1109/JSEN.2020.3043999}, year = {2021}, date = {2021-03-01}, journal = {IEEE Sensors Journal}, volume = {21}, number = {5}, pages = {6712-6723}, abstract = {The inherent flexibility, the small dimensions as well as the curvilinear shape of continuum robots makes it challenging to precisely measure their shape. Optical fibers with Bragg gratings (FBGs) provide a powerful tool to reconstruct the centerline of continuum robots. We present a theoretical model to determine the shape of such a sensor array based on longitudinal strain measurements and incorporating bending, twisting, and elongation. To validate our approach, we conduct several simulations by calculating arbitrary shapes based on the Cosserat rod theory. Our algorithm showed a maximum mean relative shape deviation of 0.04%, although the sensor array was twisted up to 78 degrees. Because we derive a closed-form solution for the strain curvature twist model, we also give analytical sensitivity values for the model, which can be used in the calculation of error propagation.}, keywords = {continuum robot, modeling, shape sensing}, pubstate = {published}, tppubtype = {article} } The inherent flexibility, the small dimensions as well as the curvilinear shape of continuum robots makes it challenging to precisely measure their shape. Optical fibers with Bragg gratings (FBGs) provide a powerful tool to reconstruct the centerline of continuum robots. We present a theoretical model to determine the shape of such a sensor array based on longitudinal strain measurements and incorporating bending, twisting, and elongation. To validate our approach, we conduct several simulations by calculating arbitrary shapes based on the Cosserat rod theory. Our algorithm showed a maximum mean relative shape deviation of 0.04%, although the sensor array was twisted up to 78 degrees. Because we derive a closed-form solution for the strain curvature twist model, we also give analytical sensitivity values for the model, which can be used in the calculation of error propagation. |
![]() | Rao, Priyanka; Peyron, Quentin; Lilge, Sven; Burgner-Kahrs, Jessica How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance Journal Article Frontiers in Robotics and AI, 7 (630245), pp. 20, 2021. Abstract | Links | BibTeX | Tags: continuum robot, modeling, tendon actuated, tendon-driven continuum robots @article{Rao2021, title = {How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance}, author = {Priyanka Rao and Quentin Peyron and Sven Lilge and Jessica Burgner-Kahrs}, doi = {10.3389/frobt.2020.630245}, year = {2021}, date = {2021-02-02}, journal = {Frontiers in Robotics and AI}, volume = {7}, number = {630245}, pages = {20}, abstract = {Tendon actuation is one of the most prominent actuation principles for continuum robots. To date, a wide variety of modelling approaches has been derived to describe the deformations of tendon-driven continuum robots. Motivated by the need for a comprehensive overview of existing methodologies, this work summarizes and outlines state-of-the-art modelling approaches. In particular, the most relevant models are classified based on backbone representations and kinematic as well as static assumptions. Numerical case studies are conducted to compare the performance of representative modelling approaches from the current state-of-the-art, considering varying robot parameters and scenarios. The approaches show different performances in terms of accuracy and computation time. Guidelines for the selection of the most suitable approach for given designs of tendon-driven continuum robots and applications are deduced from these results.}, keywords = {continuum robot, modeling, tendon actuated, tendon-driven continuum robots}, pubstate = {published}, tppubtype = {article} } Tendon actuation is one of the most prominent actuation principles for continuum robots. To date, a wide variety of modelling approaches has been derived to describe the deformations of tendon-driven continuum robots. Motivated by the need for a comprehensive overview of existing methodologies, this work summarizes and outlines state-of-the-art modelling approaches. In particular, the most relevant models are classified based on backbone representations and kinematic as well as static assumptions. Numerical case studies are conducted to compare the performance of representative modelling approaches from the current state-of-the-art, considering varying robot parameters and scenarios. The approaches show different performances in terms of accuracy and computation time. Guidelines for the selection of the most suitable approach for given designs of tendon-driven continuum robots and applications are deduced from these results. |
![]() | Amanov, E; Nguyen, T -D; Burgner-Kahrs, J Tendon-driven Continuum Robots with Extensible Sections - A Model-based Evaluation of Path Following Motions Journal Article International Journal of Robotics Research, 40 (1), pp. 7-23, 2021. Abstract | Links | BibTeX | Tags: Accuracy, continuum robot, design, extensible, follow-the-leader, tendon actuated, tendon-driven continuum robots @article{Amanov2021, title = {Tendon-driven Continuum Robots with Extensible Sections - A Model-based Evaluation of Path Following Motions}, author = {E Amanov and T -D Nguyen and J Burgner-Kahrs}, doi = {10.1177/0278364919886047}, year = {2021}, date = {2021-01-01}, journal = {International Journal of Robotics Research}, volume = {40}, number = {1}, pages = {7-23}, abstract = {Continuum robots are highly miniaturizable, exhibit non-linear shapes with several curves, and are flexible and compliant. In particular, concentric-tube and tendon-driven continuum robots can be designed on a small scale with diameters of below 10 mm. A small diameter-to-length ratio enables insertion of these robots through small entry points in order to reach hardly accessible regions by avoiding obstacles. This scenario can often be found in minimally invasive surgery and technical inspections. However, to reach the target region, a deployment along a narrow tortuous path is often required. Common tendon-driven continuum robots are intrinsically incapable of such deployment and concentric-tube continuum robots require special path conditions and intensive parameter optimization. Other proposed robot types, such as hyper-redundant and pneumatically actuated robots, exhibit less favorable diameter-to-length ratios and are thus not suitable for those tasks. Since the limiting factors are found in the design of continuum robots, we propose a novel tendon-driven continuum robot design, which features an additional degree of freedom in each robot section. The backbone is composed of straight, concentrically arranged tubes, each of which composes a section and is used to adapt its length. We present a three-section continuum robot prototype with a diameter of 7 mm, determine its follow-the-leader capabilities theoretically, and validate the results experimentally using model-based control. For our 165 mm long robot prototype, the repeatability is below 2.38 mm. The model accuracy reaches a median of 3.16% over 25 configurations with respect to robot length. The path-following error over five curvilinear paths results in median errors of 2.59% with respect to robot length.}, keywords = {Accuracy, continuum robot, design, extensible, follow-the-leader, tendon actuated, tendon-driven continuum robots}, pubstate = {published}, tppubtype = {article} } Continuum robots are highly miniaturizable, exhibit non-linear shapes with several curves, and are flexible and compliant. In particular, concentric-tube and tendon-driven continuum robots can be designed on a small scale with diameters of below 10 mm. A small diameter-to-length ratio enables insertion of these robots through small entry points in order to reach hardly accessible regions by avoiding obstacles. This scenario can often be found in minimally invasive surgery and technical inspections. However, to reach the target region, a deployment along a narrow tortuous path is often required. Common tendon-driven continuum robots are intrinsically incapable of such deployment and concentric-tube continuum robots require special path conditions and intensive parameter optimization. Other proposed robot types, such as hyper-redundant and pneumatically actuated robots, exhibit less favorable diameter-to-length ratios and are thus not suitable for those tasks. Since the limiting factors are found in the design of continuum robots, we propose a novel tendon-driven continuum robot design, which features an additional degree of freedom in each robot section. The backbone is composed of straight, concentrically arranged tubes, each of which composes a section and is used to adapt its length. We present a three-section continuum robot prototype with a diameter of 7 mm, determine its follow-the-leader capabilities theoretically, and validate the results experimentally using model-based control. For our 165 mm long robot prototype, the repeatability is below 2.38 mm. The model accuracy reaches a median of 3.16% over 25 configurations with respect to robot length. The path-following error over five curvilinear paths results in median errors of 2.59% with respect to robot length. |
2020 |
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![]() | Modes, Vincent; Burgner-Kahrs, Jessica Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes Journal Article IEEE Robotics and Automation Letters, 5 (1), pp. 103–110, 2020. Links | BibTeX | Tags: Accuracy, calibration, concentric tube continuum robot, continuum robot @article{Modes2020, title = {Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes}, author = {Vincent Modes and Jessica Burgner-Kahrs}, doi = {10.1109/LRA.2019.2946060}, year = {2020}, date = {2020-01-01}, journal = {IEEE Robotics and Automation Letters}, volume = {5}, number = {1}, pages = {103--110}, keywords = {Accuracy, calibration, concentric tube continuum robot, continuum robot}, pubstate = {published}, tppubtype = {article} } |
2019 |
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![]() | Amanov, Ernar Designing a robotic port system for laparo-endoscopic single-site surgery PhD Thesis Leibniz University Hannover, 2019. Abstract | Links | BibTeX | Tags: continuum robot, design, medical robotics, minimally-invasive surgery, soft robot, stiffening, tendon actuated, tendon-driven continuum robots @phdthesis{Amanov2019b, title = {Designing a robotic port system for laparo-endoscopic single-site surgery}, author = {Ernar Amanov }, url = {https://www.repo.uni-hannover.de/handle/123456789/10149}, doi = {10.15488/10087}, year = {2019}, date = {2019-10-14}, school = {Leibniz University Hannover}, abstract = {Current research and development in the field of surgical interventions aim to reduce the invasiveness by using few incisions or natural orifices in the body to access the surgical site. Considering surgeries in the abdominal cavity, the Laparo-Endoscopic Single-site Surgery (LESS) can be performed through a single incision in the navel, reducing blood loss, post-operative trauma, and improving the cosmetic outcome. However, LESS results in less intuitive instrument control, impaired ergonomic, loss of depth and haptic perception, and restriction of instrument positioning by a single incision. Robot-assisted surgery addresses these shortcomings, by introducing highly articulated, flexible robotic instruments, ergonomic control consoles with 3D visualization, and intuitive instrument control algorithms. The flexible robotic instruments are usually introduced into the abdomen via a rigid straight port, such that the positioning of the tools and therefore the accessibility of anatomical structures is still constrained by the incision location. To address this limitation, articulated ports for LESS are proposed by recent research works. However, they focus on only a few aspects, which are relevant to the surgery, such that a design considering all requirements for LESS has not been proposed yet. This partially originates in the lack of anatomical data of specific applications. Further, no general design guidelines exist and only a few evaluation metrics are proposed. To target these challenges, this thesis focuses on the design of an articulated robotic port for LESS partial nephrectomy. A novel approach is introduced, acquiring the available abdominal workspace, integrated into the surgical workflow. Based on several generated patient datasets and developed metrics, design parameter optimization is conducted. Analyzing the surgical procedure, a comprehensive requirement list is established and applied to design a robotic system, proposing a tendon-driven continuum robot as the articulated port structure. Especially, the aspects of stiffening and sterile design are addressed. In various experimental evaluations, the reachability, the stiffness, and the overall design are evaluated. The findings identify layer jamming as the superior stiffening method. Further, the articulated port is proven to enhance the accessibility of anatomical structures and offer a patient and incision location independent design.}, keywords = {continuum robot, design, medical robotics, minimally-invasive surgery, soft robot, stiffening, tendon actuated, tendon-driven continuum robots}, pubstate = {published}, tppubtype = {phdthesis} } Current research and development in the field of surgical interventions aim to reduce the invasiveness by using few incisions or natural orifices in the body to access the surgical site. Considering surgeries in the abdominal cavity, the Laparo-Endoscopic Single-site Surgery (LESS) can be performed through a single incision in the navel, reducing blood loss, post-operative trauma, and improving the cosmetic outcome. However, LESS results in less intuitive instrument control, impaired ergonomic, loss of depth and haptic perception, and restriction of instrument positioning by a single incision. Robot-assisted surgery addresses these shortcomings, by introducing highly articulated, flexible robotic instruments, ergonomic control consoles with 3D visualization, and intuitive instrument control algorithms. The flexible robotic instruments are usually introduced into the abdomen via a rigid straight port, such that the positioning of the tools and therefore the accessibility of anatomical structures is still constrained by the incision location. To address this limitation, articulated ports for LESS are proposed by recent research works. However, they focus on only a few aspects, which are relevant to the surgery, such that a design considering all requirements for LESS has not been proposed yet. This partially originates in the lack of anatomical data of specific applications. Further, no general design guidelines exist and only a few evaluation metrics are proposed. To target these challenges, this thesis focuses on the design of an articulated robotic port for LESS partial nephrectomy. A novel approach is introduced, acquiring the available abdominal workspace, integrated into the surgical workflow. Based on several generated patient datasets and developed metrics, design parameter optimization is conducted. Analyzing the surgical procedure, a comprehensive requirement list is established and applied to design a robotic system, proposing a tendon-driven continuum robot as the articulated port structure. Especially, the aspects of stiffening and sterile design are addressed. In various experimental evaluations, the reachability, the stiffness, and the overall design are evaluated. The findings identify layer jamming as the superior stiffening method. Further, the articulated port is proven to enhance the accessibility of anatomical structures and offer a patient and incision location independent design. |
![]() | Grassmann, Reinhard; Burgner-Kahrs, Jessica Smooth Orientation Trajectory Generator Respecting Kinematic Limits Inproceedings IEEE-RAS International Conference on Humanoid Robots, 2019. BibTeX | Tags: continuum robot, quaternion, Robotics, trajectory planning @inproceedings{Grassmann2019b, title = {Smooth Orientation Trajectory Generator Respecting Kinematic Limits}, author = {Reinhard Grassmann and Jessica Burgner-Kahrs}, year = {2019}, date = {2019-10-01}, booktitle = {IEEE-RAS International Conference on Humanoid Robots}, keywords = {continuum robot, quaternion, Robotics, trajectory planning}, pubstate = {published}, tppubtype = {inproceedings} } |
![]() | Grassmann, Reinhard M; Burgner-Kahrs, Jessica Quaternion-Based Smooth Trajectory Generator for Via Poses in SE(3) Considering Kinematic Limits in Cartesian Space Journal Article IEEE Robotics and Automation Letters, 4 (4), pp. 4192–4199, 2019. Links | BibTeX | Tags: continuum robot, quaternion, Robotics @article{Grassmann2019d, title = {Quaternion-Based Smooth Trajectory Generator for Via Poses in SE(3) Considering Kinematic Limits in Cartesian Space}, author = {Reinhard M Grassmann and Jessica Burgner-Kahrs}, doi = {10.1109/LRA.2019.2931133}, year = {2019}, date = {2019-07-25}, journal = {IEEE Robotics and Automation Letters}, volume = {4}, number = {4}, pages = {4192--4199}, keywords = {continuum robot, quaternion, Robotics}, pubstate = {published}, tppubtype = {article} } |
![]() | Grassmann, Reinhard; Burgner-Kahrs, Jessica On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3) Inproceedings Robotics: Science and Systems Conference, 10 pages, 2019. Links | BibTeX | Tags: concentric tube continuum robot, continuum robot, machine learning, Robotics @inproceedings{Grassmann2019a, title = {On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3)}, author = {Reinhard Grassmann and Jessica Burgner-Kahrs}, url = {http://www.roboticsproceedings.org/rss15/p17.pdf}, year = {2019}, date = {2019-07-01}, booktitle = {Robotics: Science and Systems Conference, 10 pages}, keywords = {concentric tube continuum robot, continuum robot, machine learning, Robotics}, pubstate = {published}, tppubtype = {inproceedings} } |
![]() | Grassmann, Reinhard M; Burgner-Kahrs, Jessica Adjustment Device for Joint Level Calibration of Continuum Robots Inproceedings Workshop on Opportunities and Challenges of Soft Robotics across Different Length Scales, IEEE International Conference on Robotics and Automation, 2019. BibTeX | Tags: Accuracy, calibration, continuum robot @inproceedings{Grassmann2019c, title = {Adjustment Device for Joint Level Calibration of Continuum Robots}, author = {Reinhard M Grassmann and Jessica Burgner-Kahrs}, year = {2019}, date = {2019-05-20}, booktitle = {Workshop on Opportunities and Challenges of Soft Robotics across Different Length Scales, IEEE International Conference on Robotics and Automation}, keywords = {Accuracy, calibration, continuum robot}, pubstate = {published}, tppubtype = {inproceedings} } |
![]() | Chikhaoui, Mohamed Taha; Lilge, Sven; Kleinschmidt, Simon; Burgner-Kahrs, Jessica Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot with Three Extensible Segments Journal Article IEEE Robotics & Automation Letters, 4 (2), pp. 989 - 996, 2019. Abstract | Links | BibTeX | Tags: continuum robot, extensible, modeling, tendon actuated @article{Chikhaoui2019, title = {Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot with Three Extensible Segments}, author = {Mohamed Taha Chikhaoui and Sven Lilge and Simon Kleinschmidt and Jessica Burgner-Kahrs}, doi = {10.1109/LRA.2019.2893610}, year = {2019}, date = {2019-01-17}, journal = {IEEE Robotics & Automation Letters}, volume = {4}, number = {2}, pages = {989 - 996}, abstract = {Continuum robots actuated by tendons are a widely researched robot design offering high dexterity and large workspaces relative to their volume. Their flexible and compliant structure can be easily miniaturized, making them predestined for applications in difficult-to-reach and confined spaces. Adaption of this specific robot design includes extensible segments leading to an even higher manipulability and enabling so-called follow-the-leader motions of the manipulator. In this letter, kinematic modeling for a tendon actuated continuum robot with three extensible segments is investigated. The focus is drawn on the comparison of two of the most widely used modeling approaches both for freespace and loaded configurations. Through extensive experimental validation, the modeling performances are assessed qualitatively and quantitatively in terms of the shape deviation, Euclidean error at segment ends, and computation time. While Cosserat rod modeling is slightly more accurate than beam mechanics modeling, the latter presents significantly lower computation time.}, keywords = {continuum robot, extensible, modeling, tendon actuated}, pubstate = {published}, tppubtype = {article} } Continuum robots actuated by tendons are a widely researched robot design offering high dexterity and large workspaces relative to their volume. Their flexible and compliant structure can be easily miniaturized, making them predestined for applications in difficult-to-reach and confined spaces. Adaption of this specific robot design includes extensible segments leading to an even higher manipulability and enabling so-called follow-the-leader motions of the manipulator. In this letter, kinematic modeling for a tendon actuated continuum robot with three extensible segments is investigated. The focus is drawn on the comparison of two of the most widely used modeling approaches both for freespace and loaded configurations. Through extensive experimental validation, the modeling performances are assessed qualitatively and quantitatively in terms of the shape deviation, Euclidean error at segment ends, and computation time. While Cosserat rod modeling is slightly more accurate than beam mechanics modeling, the latter presents significantly lower computation time. |
2018 |
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![]() | Chikhaoui, Mohamed Taha; Burgner-Kahrs, Jessica Control of Continuum Robots for Medical Applications: State of the Art Inproceedings International Conference and Exhibition on New Actuators and Drive Systems, pp. 154-164, VDE VERLAG GMBH, 2018. Links | BibTeX | Tags: continuum robot, control, minimally-invasive surgery, Surgery @inproceedings{Chikhaoui2018a, title = {Control of Continuum Robots for Medical Applications: State of the Art}, author = {Mohamed Taha Chikhaoui and Jessica Burgner-Kahrs}, url = {https://ieeexplore.ieee.org/document/8470787}, year = {2018}, date = {2018-06-25}, booktitle = {International Conference and Exhibition on New Actuators and Drive Systems}, pages = {154-164}, publisher = {VDE VERLAG GMBH}, keywords = {continuum robot, control, minimally-invasive surgery, Surgery}, pubstate = {published}, tppubtype = {inproceedings} } |
![]() | Langer, Marlene; Amanov, Ernar; Burgner-Kahrs, Jessica Stiffening Sheaths for Continuum Robots Journal Article Soft Robotics, 5 (3), pp. 291-303, 2018. Abstract | Links | BibTeX | Tags: continuum robot, design, granular jamming, layer jamming, soft robot, stiffening @article{Langer2018, title = {Stiffening Sheaths for Continuum Robots}, author = {Marlene Langer and Ernar Amanov and Jessica Burgner-Kahrs}, doi = {10.1089/soro.2017.0060}, year = {2018}, date = {2018-06-01}, journal = {Soft Robotics}, volume = {5}, number = {3}, pages = {291-303}, abstract = {Added to their high dexterity and ability to conform to complex shapes, continuum robots can be further improved to provide safer interaction with their environment. Indeed, controlling their stiffness is one of the most challenging yet promising research topics. We propose a tubular stiffening sheath as a replaceable cover for small-diameter continuum robots to temporarily increase the stiffness in a certain configuration. In this article, we assess and compare performances of two different stiffening modalities: granular and layer jamming, provide arguments for material selection and experimental results for stiffness with respect to lateral and axial applied forces. Furthermore, we detected empirically additional effects relating sheath stiffness to material parameters and added to recent investigations in the state of the art, which are based exclusively on material roughness. Finally, we integrated the selected layer jamming material in a miniaturized sheath (13 mm outer diameter, 2.5 mm wall thickness) and covered a tendon-actuated continuum robot with it. Experimental characterization of the behavior with respect to applied external forces was performed via stiffness measurements and proved that the initial tendon-actuated continuum robot stiffness can be improved by a factor up to 24.}, keywords = {continuum robot, design, granular jamming, layer jamming, soft robot, stiffening}, pubstate = {published}, tppubtype = {article} } Added to their high dexterity and ability to conform to complex shapes, continuum robots can be further improved to provide safer interaction with their environment. Indeed, controlling their stiffness is one of the most challenging yet promising research topics. We propose a tubular stiffening sheath as a replaceable cover for small-diameter continuum robots to temporarily increase the stiffness in a certain configuration. In this article, we assess and compare performances of two different stiffening modalities: granular and layer jamming, provide arguments for material selection and experimental results for stiffness with respect to lateral and axial applied forces. Furthermore, we detected empirically additional effects relating sheath stiffness to material parameters and added to recent investigations in the state of the art, which are based exclusively on material roughness. Finally, we integrated the selected layer jamming material in a miniaturized sheath (13 mm outer diameter, 2.5 mm wall thickness) and covered a tendon-actuated continuum robot with it. Experimental characterization of the behavior with respect to applied external forces was performed via stiffness measurements and proved that the initial tendon-actuated continuum robot stiffness can be improved by a factor up to 24. |
![]() | Amanov, Ernar; Nguyen, Thien-Dang; Markmann, Steffen; Imkamp, Florian; Burgner-Kahrs, Jessica Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy Journal Article Annals of Biomedical Engineering, 46 (10), pp. 1498-1510, 2018. Abstract | Links | BibTeX | Tags: continuum robot, design, layer jamming, minimally-invasive surgery, soft robot, tendon actuated, tendon-driven continuum robots @article{Amanov2018, title = {Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy}, author = {Ernar Amanov and Thien-Dang Nguyen and Steffen Markmann and Florian Imkamp and Jessica Burgner-Kahrs}, doi = {10.1007/s10439-018-2060-4}, year = {2018}, date = {2018-05-31}, journal = {Annals of Biomedical Engineering}, volume = {46}, number = {10}, pages = {1498-1510}, abstract = {Laparoscopic partial nephrectomy for localized renal tumors is an upcoming standard minimally invasive surgical procedure. However, a single-site laparoscopic approach would be even more preferable in terms of invasiveness. While the manual approach offers rigid curved tools, robotic single-site systems provide high degrees of freedom manipulators. However, they either provide only a straight deployment port, lack of instrument integration, or cannot be reconfigured. Therefore, the current main shortcomings of single-site surgery approaches include limited tool dexterity, visualization, and intuitive use by the surgeons. For partial nephrectomy in particular, the accessibility of the tumors remains limited and requires invasive kidney mobilization (separation of the kidney from the surrounding tissue), resulting in patient stress and prolonged surgery. We address these limitations by introducing a flexible, robotic, variable stiffness port with several working channels, which consists of a two-segment tendon-driven continuum robot with integrated granular and layer jamming for stabilizing the pose and shape. We investigate biocompatible granules for granular jamming and demonstrate the stiffening capabilities in terms of pose and shape accuracy with experimental evaluations. Additionally, we conduct in vitro experiments on a phantom and prove that the visualization of tumors at various sites is increased up to 38% in comparison to straight endoscopes.}, keywords = {continuum robot, design, layer jamming, minimally-invasive surgery, soft robot, tendon actuated, tendon-driven continuum robots}, pubstate = {published}, tppubtype = {article} } Laparoscopic partial nephrectomy for localized renal tumors is an upcoming standard minimally invasive surgical procedure. However, a single-site laparoscopic approach would be even more preferable in terms of invasiveness. While the manual approach offers rigid curved tools, robotic single-site systems provide high degrees of freedom manipulators. However, they either provide only a straight deployment port, lack of instrument integration, or cannot be reconfigured. Therefore, the current main shortcomings of single-site surgery approaches include limited tool dexterity, visualization, and intuitive use by the surgeons. For partial nephrectomy in particular, the accessibility of the tumors remains limited and requires invasive kidney mobilization (separation of the kidney from the surrounding tissue), resulting in patient stress and prolonged surgery. We address these limitations by introducing a flexible, robotic, variable stiffness port with several working channels, which consists of a two-segment tendon-driven continuum robot with integrated granular and layer jamming for stabilizing the pose and shape. We investigate biocompatible granules for granular jamming and demonstrate the stiffening capabilities in terms of pose and shape accuracy with experimental evaluations. Additionally, we conduct in vitro experiments on a phantom and prove that the visualization of tumors at various sites is increased up to 38% in comparison to straight endoscopes. |
2017 |
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![]() | Starke, Julia; Amanov, Ernar; Chikhaoui, Mohamed Taha; Burgner-Kahrs, Jessica On the Merits of Helical Tendon Routing in Continuum Robots Inproceedings IEEE International Conference on Robotics and Automation, pp. 6470–6476, 2017. Abstract | Links | BibTeX | Tags: continuum robot, design, tendon actuated, tendon-driven continuum robots @inproceedings{Starke2017, title = {On the Merits of Helical Tendon Routing in Continuum Robots}, author = {Julia Starke and Ernar Amanov and Mohamed Taha Chikhaoui and Jessica Burgner-Kahrs}, doi = {10.1109/IROS.2017.8206554}, year = {2017}, date = {2017-12-14}, booktitle = {IEEE International Conference on Robotics and Automation}, pages = {6470--6476}, abstract = {Tendon-driven continuum robots possess versatile application capabilities and have a robust design. The actuation of such robots with non-straight tendons that wrap around the backbone, described by a variable function, offers a lot of untapped potentials. While it has been shown that these continuum robots are able to take up complex shapes using only one actuated segment, the merits of non-straight tendon routing have not been quantified in terms of workspace and motion. In this paper, we show that one additional helically routed tendon can greatly benefit the robot's reachable workspace. For instance, the reachable workspace of a one-segment robot with 3 conventional straight tendons increases by 400 % by adding one helically routed tendon. Furthermore, the dexterity of such a continuum robot is improved, i.e. motion sequences to avoid obstacles or to twine an object for grasping. For the first time, the potential of tendon-driven continuum robots with two segments and helically routed tendons is investigated. The general findings on the merits of helical tendon routing are supported with both simulation and experimental results.}, keywords = {continuum robot, design, tendon actuated, tendon-driven continuum robots}, pubstate = {published}, tppubtype = {inproceedings} } Tendon-driven continuum robots possess versatile application capabilities and have a robust design. The actuation of such robots with non-straight tendons that wrap around the backbone, described by a variable function, offers a lot of untapped potentials. While it has been shown that these continuum robots are able to take up complex shapes using only one actuated segment, the merits of non-straight tendon routing have not been quantified in terms of workspace and motion. In this paper, we show that one additional helically routed tendon can greatly benefit the robot's reachable workspace. For instance, the reachable workspace of a one-segment robot with 3 conventional straight tendons increases by 400 % by adding one helically routed tendon. Furthermore, the dexterity of such a continuum robot is improved, i.e. motion sequences to avoid obstacles or to twine an object for grasping. For the first time, the potential of tendon-driven continuum robots with two segments and helically routed tendons is investigated. The general findings on the merits of helical tendon routing are supported with both simulation and experimental results. |
Amanov, E; Granna, J; Burgner-Kahrs, J Toward Improving Path Following Motion: Hybrid Continuum Robot Design Inproceedings IEEE International Conference on Robotics and Automation, pp. 4666-4672, 2017. Links | BibTeX | Tags: continuum robot, design, extensible, follow-the-leader, tendon actuated @inproceedings{Amanov2017a, title = {Toward Improving Path Following Motion: Hybrid Continuum Robot Design}, author = {E Amanov and J Granna and J Burgner-Kahrs}, doi = {10.1109/ICRA.2017.7989542}, year = {2017}, date = {2017-06-01}, booktitle = {IEEE International Conference on Robotics and Automation}, pages = {4666-4672}, keywords = {continuum robot, design, extensible, follow-the-leader, tendon actuated}, pubstate = {published}, tppubtype = {inproceedings} } | |
Modes, V; Nguyen, Thien-Dang; Burgner-Kahrs, J Towards Handheld Continuum Robots Inproceedings DGR Days (German Society of Robotics), pp. 20, 2017. BibTeX | Tags: continuum robot, design @inproceedings{Modes2017, title = {Towards Handheld Continuum Robots}, author = {V Modes and Thien-Dang Nguyen and J Burgner-Kahrs}, year = {2017}, date = {2017-06-01}, booktitle = {DGR Days (German Society of Robotics)}, pages = {20}, keywords = {continuum robot, design}, pubstate = {published}, tppubtype = {inproceedings} } | |
Burgner-Kahrs, J How Can the Characteristics of Continuum Robots Be Optimized for a Specific Medical Application? Journal Article Latest Thinking, 2017, ISSN: 25105183. Links | BibTeX | Tags: computational design, concentric tube continuum robot, continuum robot, design, minimally-invasive surgery, Surgery @article{Burgner-Kahrs2017b, title = {How Can the Characteristics of Continuum Robots Be Optimized for a Specific Medical Application?}, author = {J Burgner-Kahrs}, url = {https://lt.org/publication/how-can-characteristics-continuum-robots-be-optimized-specific-medical-application}, doi = {10.21036/LTPUB10324}, issn = {25105183}, year = {2017}, date = {2017-01-01}, journal = {Latest Thinking}, keywords = {computational design, concentric tube continuum robot, continuum robot, design, minimally-invasive surgery, Surgery}, pubstate = {published}, tppubtype = {article} } | |
Amanov, E; Nguyen, Thien-Dang; Imkamp, Florian; Burgner-Kahrs, J First Results on a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy Inproceedings The Hamlyn Symposium on Medical Robotics, pp. 91–92, 2017. BibTeX | Tags: continuum robot, design, minimally-invasive surgery, Surgery, tendon actuated, tendon-driven continuum robots @inproceedings{Amanov2017b, title = {First Results on a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy}, author = {E Amanov and Thien-Dang Nguyen and Florian Imkamp and J Burgner-Kahrs}, year = {2017}, date = {2017-01-01}, booktitle = {The Hamlyn Symposium on Medical Robotics}, pages = {91--92}, keywords = {continuum robot, design, minimally-invasive surgery, Surgery, tendon actuated, tendon-driven continuum robots}, pubstate = {published}, tppubtype = {inproceedings} } | |
2016 |
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Amanov, Ernar; Imkamp, Florian; Burgner-Kahrs, Jessica Initial Investigations toward a Flexible Variable Stiffness Single Port System for Partial Nephrectomy Inproceedings Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., pp. 93–98, 2016. BibTeX | Tags: continuum robot, minimally-invasive surgery, stiffening, tendon-driven continuum robots @inproceedings{Amanov2016b, title = {Initial Investigations toward a Flexible Variable Stiffness Single Port System for Partial Nephrectomy}, author = {Ernar Amanov and Florian Imkamp and Jessica Burgner-Kahrs}, year = {2016}, date = {2016-10-01}, booktitle = {Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V.}, pages = {93--98}, keywords = {continuum robot, minimally-invasive surgery, stiffening, tendon-driven continuum robots}, pubstate = {published}, tppubtype = {inproceedings} } |