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.
Stenting deployment system
Author Nabil Simaan
Video ID : 248
A 3-DOF continuum robot for intraocular dexterity and stent placement. The video shows a stent being deployed in a choroallantoic chick membrane which represents the vasculature of the retina [1, 2]. Note that [1] reports an algorithm for assisted telemanipulation and force sensing at the tip of a guide wire using a rapid interpolation map by elliptic integrals. References:
[1] W. Wei, N. Simaan: Modeling, force sensing, and control of flexible cannulas for microstent delivery, J. Dyn. Syst. Meas. Control 134(4), 041004 (2012); [2] W. Wei, C. Popplewell, H. Fine, S. Chang, N. Simaan: Enabling technology for micro-vascular stenting in ophthalmic surgery, ASME J. Med. Dev. 4(2), 014503-01 - 014503-06 (2010)
