Springer Handbook of Robotics - Multimedia Extension

Chapter 20 — Snake-Like and Continuum Robots

Ian D. Walker, Howie Choset and Gregory S. Chirikjian

This chapter provides an overview of the state of the art of snake-like (backbones comprised of many small links) and continuum (continuous backbone) robots. The history of each of these classes of robot is reviewed, focusing on key hardware developments. A review of the existing theory and algorithms for kinematics for both types of robot is presented, followed by a summary ofmodeling of locomotion for snake-like and continuum mechanisms.

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Modsnake pipe inspection

Author Howie Choset

Video ID : 167

Video of the CMU Modsnake inspecting a residential pipe network in Pittsburgh, PA.

Modsnake climbing a tree

Author Howie Choset

Video ID : 168

The CMU Modsnake climbing a tree and surveying an area from this high vantage point.

Modsnake swimming

Author Howie Choset

Video ID : 169

The CMU Modsnake swimming in a pool.

Modsnake pole climb

Author Howie Choset

Video ID : 171

CMU Modsnake climbing and navigating curves on a jagged pole.

Modsnake sidewinding

Author Howie Choset

Video ID : 174

CMU Modsnake sidewinding across rocky terrain

CMU medical snake robot

Author Howie Choset

Video ID : 175

Video of CMU medical snake robot performing a closed-chest ablation of left atrial appendage.

Active compliant insertion

Author Nabil Simaan

Video ID : 244

Shows rapid deployment of a continuum robot inside a tube using force sensing at the backbones and a generalization of the compliant motion controller initially presented in [1]. This experiment is associated with [2] which is not published. The algorithms have been validated successfully on two cadavers as reported in Hamlyn 2013 paper and in a TBME paper currently under review [1] R. E. Goldman, A. Bajo, N. Simaan: Compliant motion control for continuum robots with intrinsic actuation sensing, Proc. IEEE Int. Conf. Robot. Autom. (ICRA), Shanghai (2011), pp. 1126-1132; [2] R. E. Goldman, A. Bajo, N. Simaan: Compliant motion control for multi-segment continuum robots with actuation force sensing, IEEE Trans. Robot. (2013), submitted

Automatic insertion implant calibration

Author Nabil Simaan

Video ID : 245

Video shows a steerable model of electrode arrays for cochlear implant surgery. The implant is built from an elastomeric body with an embedded Kevlar strand. The strand location controls the bending shape in 2-D and 3-D. The video shows one model that moves in plane [1, 2]. In [1] we reported the optimal planning of the insertion path. In [2] we reported the optimal strand location to achieve optimal insertion in 3-D cavities. References: [1] J. Zhang, J. T. Roland, S. Manolidis, N. Simaan: Optimal path planning for robotic insertion of steerable electrode arrays in cochlear implant surgery, J. Med. Dev. 3(1), 011001 (2009); [2] J. Zhang, N. Simaan: Design of underactuated steerable electrode arrays for optimal insertions, J. Mech. Robot. 5(1), 011008 (2013)

IREP tagging spikes

Author Nabil Simaan

Video ID : 246

This video shows telemanipulation of the IREP (insertible robotic effectors platform). The IREP is a system having 21 controllable axes including two 7-DOF dexterous arms, 3-DOF camera head, an insertion stage, and two grippers [1]. Reference: [1] A. Bajo, R. E. Goldman, L. Wang, D. Fowler, N. Simaan: Integration and preliminary evaluation of an insertable robotic effectors platform for single port access surgery, Proc. 2012 IEEE Int. Conf. Robot. Autom. (ICRA), St. Paul (2012), pp. 3381-3387

RDP experimental results

Author Nabil Simaan

Video ID : 247

Demonstrates a prototype system for transurethral bladder cancer resection. This robot has a 5 mm snake with two segments and three working channels including a custom-made fiberscope, laser ablation and a gripper [1-3]. References: [1] A. Bajo, R. B. Pickens, S. D. Herrell, N. Simaan: A pilot ex-vivo evaluation of a telerobotic system for transurethral intervention and surveillance, The 5th Hamlyn Symp. Medical Robotics (2012), pp. 3-4; [2] A. Bajo, R. B. Pickens, S. D. Herrell, N. Simaan: Constrained motion control of multisegment continuum robots for transurethral bladder resection and surveillance, Proc. IEEE Int. Conf. Robot. Autom. (ICRA), Karlsruhe (2013), pp. 5817-5822; [3] R. E. Goldman, A. Bajo, L. S. MacLachlan, R. Pickens, S. D. Herrell, N. Simaan: Design and performance evaluation of a minimally invasive telerobotic platform for transurethral surveillance and intervention, IEEE Trans. Biomed. Eng. 60(4), 918-925 (2013)

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Chapter 20 — Snake-Like and Continuum Robots

Modsnake pipe inspection

Modsnake climbing a tree

Modsnake swimming

Modsnake pole climb

Modsnake sidewinding

CMU medical snake robot

Active compliant insertion

Automatic insertion implant calibration

IREP tagging spikes

RDP experimental results