Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots
Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots
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DOI：
10.1109/lra.2018.2881987
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发表时间：
2019-01
影响因子：
5.2
通讯作者：
Tipakorn Greigarn;Nate Lombard Poirot;Xinyang Xu;M. C. Cavusoglu
中科院分区：
文献类型：
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作者：
Tipakorn Greigarn;Nate Lombard Poirot;Xinyang Xu;M. C. Cavusoglu
机器人辅助的医疗干预，如机器人导管消融，通常需要机器人在组织表面执行任务。这封信提出了一种任务空间运动规划方法，该方法生成驱动轨迹，以引导MRI驱动的连续体机器人的末端执行器沿表面上的期望轨迹移动。采用伪刚体模型对连续体机器人进行建模，其中机器人的连续体由柔性关节连接的刚性连杆来近似。将机器人的准静态运动模型表示为势能最小化问题。准静态运动模型的雅可比被用来计算将尖端朝向所需方向的驱动。该方法在临床3-T磁共振扫描仪上进行了实验验证。
Robot-assisted medical interventions, such as robotic catheter ablation, often require the robot to perform tasks on a tissue surface. This letter presents a task-space motion planning method that generates actuation trajectories that steer the end-effector of the MRI-actuated continuum robot along desired trajectories on the surface. The continuum robot is modeled using the pseudo-rigid-body model, where the continuum body of the robot is approximated by rigid links joined by flexible joints. The quasistatic motion model of the robot is formulated as a potential energy minimization problem. The Jacobian of the quasistatic motion model is used in calculating the actuations that steer the tip in the desired directions. The proposed method is validated experimentally in a clinical 3-T MRI scanner.