Optimizing Continuum Robot Tendon Routing for Minimally Invasive Brain Surgery
Optimizing Continuum Robot Tendon Routing for Minimally Invasive Brain Surgery
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发表时间：
2022
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通讯作者：
Margaret Rox;Aidan Copinga;R. Naftel;R. Webster;A. Kuntz
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作者：
Margaret Rox;Aidan Copinga;R. Naftel;R. Webster;A. Kuntz
肌腱驱动的连续体机器人是顺应性的，能够呈现复杂的曲线，使它们成为在有障碍物的受限空间进行微创手术的理想选择。这些机器人可以实现由致动和设计考虑确定的无限族曲线，例如沿着机器人的肌腱沿着的肌腱布线路径。已经研究了手术连续体机器人的设计优化（参见[1]进行审查），但可变和复杂肌腱路由的想法是新的，尽管它已经建模[2]，但它尚未用于设计实际的手术设备。对于肌腱驱动的连续体机器人一般来说，设计优化迄今为止集中在使用不同长度的直（即平行于骨干）段的多段机器人上，其中肌腱沿机器人沿着终止于各种弧线[3]，[4]。采用非线性布置的钢筋束进行设计的优势在于，在驱动过程中，可以实现更具表现力的形状系列[2]。然而，迄今为止，设计非线性肌腱一直具有挑战性，因为人们在无限的设计空间中使用基于力学的模型，需要求解微分方程来计算机器人运动学。为了解决这个问题，本文提出了一种新的肌腱驱动机器人的肌腱布线参数化，并利用它来优化布线，以实现从实际神经外科应用中得出的设计目标：脑积水的脉络丛烧灼[5]。该应用是同心管机器人开发的早期激励示例，在[6]中扩展，尽管物理尺寸，可实现的曲率和刚度约束迄今为止限制了模拟设计的机器人的实际制造。脉络丛烧灼的内窥镜方法需要通过脑室中的狭窄空间进行操纵，这对于传统的恒定的
Tendon-driven continuum robots are compliant and capable of assuming complex curves, making them ideal for minimally invasive surgery in confined spaces with obstacles. These robots can achieve an infinite family of curves, determined by both actuation and design considerations, such as the tendon routing paths of tendons along the robot. Design optimization of surgical continuum robots has been studied (see [1] for review), but the idea of variable and complex tendon routing is newer, and although it has been modeled [2], it has yet to be used to design a practical surgical device. For tendon-driven continuum robots in general, design optimization has thus far focused on multi-segment robots that use straight (i.e. parallel to the backbone) segments of different lengths, where tendons terminate at various arclengths along the robot [3], [4]. The advantage of designing with nonlinearly routed tendons is the potential to enable a much more expressive family of shapes during actuation [2]. However, it has thus far been challenging to design nonlinear tendons because one is working in an infinite design space with mechanicsbased models that require solving differential equations to compute robot kinematics. Toward solving this problem, this paper presents a new tendon routing parameterization for tendon-driven robots and leverages it to optimize the routings for a design objective drawn from a practical neurosurgical application: choroid plexus cauterization for hydrocephalus [5]. This application was an early motivating example in the development of concentric tube robots, extended in [6], although physical size, achievable curvatures, and stiffness constraints have thus far limited practical fabrication of the robots designed in simulation. The endoscopic approach to choroid plexus cauterization requires maneuvering through tight spaces in the ventricles, which is challenging with traditional constant