Sensor-based guidance control of a continuum robot for a semi-autonomous colonoscopy

Robotics and Autonomous Systems

Volumn 57, Issue 6-7, 2009, Pages 712-722

  Chen, G ^a   Pham, M T ^b   Redarce, T ^b  

^a UNILEVER RESEARCH   (United Kingdom)

^b Univ Claude Bernard Lyon1   (France)

Author keywords

Colonoscopy; Continuum robot; Kinematics; Sensor based position control; Soft actuator

Indexed keywords

CENTRAL AXIS; COLONOSCOPY; CONFINED SPACES; CONTINUUM ROBOT; CONTROL STRATEGIES; CURVED TUBES; FLEXIBLE ROBOTIC MANIPULATORS; GUIDANCE CONTROLS; KINEMATIC MODELS; REAL TIME; SENSOR READINGS; SIMULATION RESULTS; SOFT ACTUATOR; TUBE WALLS; URBAN SEARCH AND RESCUES;

ACTUATORS; ELECTRONIC GUIDANCE SYSTEMS; ENDOSCOPY; KINEMATICS; MANIPULATORS; MINING; ROBOTICS; ROBOTS; SENSORS; SURGERY;

POSITION CONTROL;

EID: 67349105966     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2008.11.001     Document Type: Article

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