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Cited by 485

The DOI matches its Crossref record; 15 of the 15 references it cites were found in a registry or an index.

Mechanics of Precurved-Tube Continuum Robots

Webster, Robert J., Romano, Joseph M., Cowan, Noah J.·2009·IEEE Transactions on Robotics
DOI 10.1109/tro.2008.2006868
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Abstract

This paper presents a new class of thin, dexterous continuum robots, which we call active cannulas due to their potential medical applications. An active cannula is composed of telescoping, concentric, precurved superelastic tubes that can be axially translated and rotated at the base relative to one another. Active cannulas derive bending not from tendon wires or other external mechanisms but from elastic tube interaction in the backbone itself, permitting high dexterity and small size, and dexterity improves with miniaturization. They are designed to traverse narrow and winding environments without relying on ldquoguidingrdquo environmental reaction forces. These features seem ideal for a variety of applications where a very thin robot with tentacle-like dexterity is needed. In this paper, we apply beam mechanics to obtain a kinematic model of active cannula shape and describe design tools that result from the modeling process. After deriving general equations, we apply them to a simple three-link active cannula. Experimental results illustrate the importance of including torsional effects and the ability of our model to predict energy bifurcation and active cannula shape.

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Metadata

Authors
Webster, R. J., Romano, J. M., & Cowan, N. J.
Venue
IEEE Transactions on Robotics
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Published
2009-02
Volume
25
Issue
1
Pages
67-78
ISSN
  • 1552-3098 (ISSN-L)
  • 1941-0468
DOI
10.1109/tro.2008.2006868
OpenAlex
W2119531408
Cited by
485
References
15
FWCI
10.23
Type
journal article
Language
en
Open access
closed

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CoChat. (2026). Citation check: Mechanics of Precurved-Tube Continuum Robots. https://app.cochat.ai/papers/10.1109/tro.2008.2006868
The paper
Webster, R. J., Romano, J. M., & Cowan, N. J. (2009). Mechanics of Precurved-Tube Continuum Robots. IEEE Transactions on Robotics. https://doi.org/10.1109/tro.2008.2006868

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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).

Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.