Abstract
This paper presents the dynamic modelling of a fibre-based continuum robot for early cancer detection using the discrete-time transfer matrix method (DT-TMM) with high computational efficiency. A brief introduction to the concept of the fibre-based robot is given in this paper. The principles of the DT-TMM are reviewed, and the dynamic modelling methodology is analysed and established for the fibre-based robot using the DT-TMM. Numerical simulations are performed to demonstrate the dynamic modelling method and the feasibility of using the robot for early cancer detection.
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