Imperial College London
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DrBurakTemelkuran

Faculty of Medicine, Department of Metabolism, Digestion and Reproduction

Lecturer in Biomedical Photonics
 
 
 
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Contact

 

b.temelkuran Website

 
 
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Location

 

E312Burlington DanesHammersmith Campus

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Summary

 

Publications

Citation

BibTex format

@article{Gao:2020:10.1089/soro.2019.0051,
author = {Gao, A and Liu, N and Shen, M and Abdelaziz, MEMK and Temelkuran, B and Yang, G-Z},
doi = {10.1089/soro.2019.0051},
journal = {Soft Robotics},
pages = {421--443},
title = {Laser-profiled continuum robot with integrated tension sensing for simultaneous shape and tip force estimation},
url = {http://dx.doi.org/10.1089/soro.2019.0051},
volume = {7},
year = {2020}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - The development of miniaturized continuum robots has a wide range of applications in minimally invasive endoluminal interventions. To navigate inside tortuous lumens without impinging on the vessel wall and causing tissue damage or the risk of perforation, it is necessary to have simultaneous shape sensing of the continuum robot and its tip contact force sensing with the surrounding environment. Miniaturization and size constraint of the device have precluded the use of conventional sensing hardware and embodiment schemes. In this study, we propose the use of optical fibers for both actuation and tension/shape/force sensing. It uses a model-based method with structural compensation, allowing direct measurement of the cable tension near the base of the manipulator without increasing the dimensions. It further structurally filters out disturbances from the flexible shaft. In addition, a model is built by considering segment differences, cable interactions/cross talks, and external forces. The proposed model-based method can simultaneously estimate the shape of the manipulator and external force applied onto the robot tip. Detailed modeling and validation results demonstrate the accuracy and reliability of the proposed method for the miniaturized continuum robot for endoluminal intervention.
AU  - Gao,A
AU  - Liu,N
AU  - Shen,M
AU  - Abdelaziz,MEMK
AU  - Temelkuran,B
AU  - Yang,G-Z
DO  - 10.1089/soro.2019.0051
EP  - 443
PY  - 2020///
SN  - 2169-5172
SP  - 421
TI  - Laser-profiled continuum robot with integrated tension sensing for simultaneous shape and tip force estimation
T2  - Soft Robotics
UR  - http://dx.doi.org/10.1089/soro.2019.0051
UR  - http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000515355100001&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
UR  - https://www.liebertpub.com/doi/10.1089/soro.2019.0051
UR  - http://hdl.handle.net/10044/1/77866
VL  - 7
ER  -
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