Concept design and dynamic modelling of a fibre-based continuum robot for early cancer detection using DT-TMM

Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45)32_Refereed conference paper (with ISBN/ISSN)peer-review

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Author(s)

Detail(s)

Original languageEnglish
Title of host publicationNew Trends in Medical and Service Robotics
Subtitle of host publicationAdvances in Theory and Practice
EditorsGiuseppe Carbone, Marco Ceccarelli, Doina Pisla
PublisherSpringer Nature Switzerland AG
Pages177-185
ISBN (Electronic)9783030003296
ISBN (Print)9783030003289
Publication statusPublished - 2019

Publication series

NameMechanisms and Machine Science
Volume65
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Conference

Title6th International Workshop on New Trends in Medical and Service Robotics (MESROB 2018)
LocationUniversity of Cassino and South Latium
PlaceItaly
CityCassino
Period4 - 6 July 2018

Abstract

This paper presents the dynamic modelling of a fibre-based continuum robot for early cancer detection using the discrete-time transfer matrix method (DT-TMM) with high computational efficiency. A brief introduction to the concept of the fibre-based robot is given in this paper. The principles of the DT-TMM are reviewed, and the dynamic modelling methodology is analysed and established for the fibre-based robot using the DT-TMM. Numerical simulations are performed to demonstrate the dynamic modelling method and the feasibility of using the robot for early cancer detection.

Research Area(s)

  • Deformation, Dynamic modelling, Fibre-based robot, Transfer matrix

Citation Format(s)

Concept design and dynamic modelling of a fibre-based continuum robot for early cancer detection using DT-TMM. / Bærenholdt, Mathias; Wang, Lidai; Zhang, Xuping.

New Trends in Medical and Service Robotics: Advances in Theory and Practice. ed. / Giuseppe Carbone; Marco Ceccarelli; Doina Pisla. Springer Nature Switzerland AG, 2019. p. 177-185 (Mechanisms and Machine Science; Vol. 65).

Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45)32_Refereed conference paper (with ISBN/ISSN)peer-review