Skip to Main content Skip to Navigation
Journal articles

Conception, modélisation et commande des robots à tubes concentriques : vers des applications médicales

Abstract : Continuum robots, particularly concentric tube robots (CTR), have shown their abilities to reach confined zones through their miniaturization and flexibility for applications in minimally invasive surgery. Possessing the dimensions of a catheter and the mobility and controllability of rigid robots, the scope of their potential applications is broad. This article presents the major advances in design, the evolution of modeling with regard to physical phenomena, path planning, and several control laws for CTR. The contributions of the two research teams working on this topic in France are also presented.
Document type :
Journal articles
Complete list of metadatas

https://hal-lirmm.ccsd.cnrs.fr/lirmm-01624753
Contributor : Chao Liu <>
Submitted on : Thursday, October 26, 2017 - 4:52:26 PM
Last modification on : Wednesday, September 16, 2020 - 10:42:49 AM

Identifiers

  • HAL Id : lirmm-01624753, version 1

Citation

Mohamed Nassim Boushaki, Mohamed Taha Chikhaoui, Kanty Rabenorosoa, Chao Liu, Nicolas Andreff, et al.. Conception, modélisation et commande des robots à tubes concentriques : vers des applications médicales. Techniques de l'Ingenieur, Techniques de l'ingénieur, 2016, Robotique, TIP661WEB, pp.S7767. ⟨lirmm-01624753⟩

Share

Metrics

Record views

530