連続体ロボットのための統合アクチュエーション基盤の設計と評価
Design and Characterization of a Unified Continuum Robot Actuation Platform
連続体ロボットの駆動系をロボット設計から切り離し、モジュール化して多自由度化や従来型マニピュレータとの統合を可能にする統合アクチュエーションプラットフォームを提案し、手術ロボットで性能を実証した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Yunti Xu, Aedan Mangan, Miheer Potdar, Alex Lu, Tania K. Morimoto
分類: cs.RO
原文アブストラクト
Continuum robots enable dexterous access to confined spaces in applications such as minimally invasive surgery and industrial inspection. However, their actuation systems are often custom-designed for specific robot architectures and tasks, limiting reuse across publications, institutions, and applications. This paper presents a unified actuation platform that decouples actuation hardware and software from continuum robot design. The platform provides modular actuation across continuum robot classes, scales to a large number of degrees of freedom (DOFs), and integrates with conventional serial manipulators for hybrid architectures. We validate the platform on an open-sourced surgical robotic system and experimentally characterize the actuation modules, achieving sub-millimeter translational accuracy and less than $5^\circ$ rotational error over ranges of $30$~mm and $180^\circ$, respectively. We further demonstrate the platform in two surgical use cases: teleoperation of a continuum camera in a constrained environment and bimanual manipulation using $2.53$~mm concentric-tube-robot-based forceps alongside a conventional wristed instrument. All hardware designs and ROS-based software are open-sourced to facilitate reuse and further research in continuum and surgical robotics.