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Modeling Telescoping Tendon-Actuated Continuum Robots

EasyChair Preprint no. 8201

2 pagesDate: June 6, 2022


Telescoping tendon-actuated flexible tubes are widely used in catheters, ureteroscopes, and other minimally invasive surgical devices. This work presents a preliminary mechanics-based model of these tubes consisting of a set of telescoping Cosserat rods actuated by Cosserat strings. The model correctly predicts the deformation of the tubes under loading, including the twist produced between individual tubes, which was previously unadressed in literature.

Keyphrases: mechanical modeling, medical robotics, Tendon-driven Systems

BibTeX entry
BibTeX does not have the right entry for preprints. This is a hack for producing the correct reference:
  author = {Yash Chitalia and Abdulhamit Donder and Pierre Dupont},
  title = {Modeling Telescoping Tendon-Actuated Continuum Robots},
  howpublished = {EasyChair Preprint no. 8201},

  year = {EasyChair, 2022}}
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