Implications of trajectory generation strategies for tubular continuum robots
Implications of trajectory generation strategies for tubular continuum robots
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DOI：
10.1109/iros.2015.7353375
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发表时间：
2015-12
期刊：
影响因子：
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通讯作者：
Carolin Fellmann;J. Burgner-Kahrs
中科院分区：
文献类型：
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作者：
Carolin Fellmann;J. Burgner-Kahrs
管状连续体机器人由于尺寸小并且能够在受限环境中灵巧地操纵，因此对于微创手术特别有用。该机器人可以远程操作或（半）自主操作。在这两种情况下，考虑到患者独特的解剖学和病理学的限制，必须确保安全操作，以防止神经、血管和软组织损伤。虽然已经为管状连续体机器人提出了概率路径规划方法，该方法在障碍环境中生成无碰撞配置序列，但这些方法通常没有明确考虑不同的轨迹生成。在本文中，我们根据生成的笛卡尔路径和运动过程的空间范围评估了四种轨迹生成策略。我们展示了不同策略对无碰撞路径规划和示例医疗场景的影响。总之，如果中间配置之间的距离增加，则考虑轨迹生成策略是必不可少的 - 即使这些中间配置可能是无碰撞的。
Tubular continuum robots are particularly useful for minimally invasive surgery due to their small size and ability to dexterously manipulate in constrained environments. The robot can be used teleoperated or operated (semi-)autonomously. In both cases, safe manipulation has to be ensured considering constraints from the patient's unique anatomy and pathology to prevent injury of nerves, vessels, and soft tissue. While probabilistic path planning methods have been proposed for tubular continuum robots which generate sequences of collision free configurations in obstructed environments, these methods do usually not explicitly consider different trajectory generations. In this paper, we evaluate four trajectory generation strategies in terms of the resulting Cartesian paths and spatial extent of the course of motion. We demonstrate the implication of the different strategies on both collision free path planning and an example medical scenario. In conclusion, consideration of trajectory generation strategies is indispensable, if the distance between intermediate configurations increases - even though those intermediate configurations might be collision free.