Design of Highly Articulated Mechanism for Surgical Applications

Abstract

Snake robots are highly articulated mechanisms that can thread through tightly packed volumes and access locations that people and machinery otherwise cannot access. These devices come in many forms, including locomoting snakes whose internal undulations allow them to maneuver in difficult to negotiate terrains, as well as fixed-base elephant trunks or probes that can reach into cluttered spaces with minimal invasion. The proposed work focuses on the latter of these devices as they have many applications important to the Army including surgery in the field and surgical bomb disarming

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Document Details

Document Type
Technical Report
Publication Date
Aug 31, 2016
Accession Number
AD1050143

Entities

People

  • Howard Choset

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Autonomy
  • Biomedical
  • Weapons Technologies

DTIC Thesaurus Topics

  • Algorithms
  • Biomedical Engineering
  • Combat Support Hospitals
  • Control Systems
  • Cooperative Control
  • Filtration
  • Health Services
  • Kalman Filtering
  • Kalman Filters
  • Medical Personnel
  • Motion Planning
  • Robotics
  • Robots
  • Standards
  • Students
  • Surgery
  • Technology Transfer

Readers

  • Robotics and Automation.
  • Strategic Security Studies
  • Trauma Surgery or Emergency Medicine.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Space
  • Space - Spacecraft Maneuvers