Algorithms for Design of Continuum Robots Using the Concentric Tubes Approach: A Neurosurgical Example.
Algorithms for Design of Continuum Robots Using the Concentric Tubes Approach: A Neurosurgical Example.
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DOI：
10.1109/icra.2011.5980311
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发表时间：
2011-05-09
期刊：
影响因子：
--
通讯作者：
Dupont P
中科院分区：
文献类型：
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作者：
Anor T;Madsen JR;Dupont P
我们提出了一种新的系统方法来优化神经外科手术中同心管机器人的设计。这些程序要求机器人在解剖受限的工作空间内导航和操作时接近指定的目标位置。术前影像的可用性使我们的方法特别适合神经外科，我们以内窥镜脉络膜丛消融为例说明该方法。结合全局模式搜索优化方法，提出了一种新的机器人特征参数化方法。该公式返回了最简单的机器人设计，能够在约束优化指标的受限空间中到达单个或多个目标点。这种方法的一个特别的优点是，它确定了需要固定曲率还是可变曲率截面。我们在四个临床相关的例子中展示了该方法的性能。
We propose a novel systematic approach to optimizing the design of concentric tube robots for neurosurgical procedures. These procedures require that the robot approach specified target sites while navigating and operating within an anatomically constrained work space. The availability of preoperative imaging makes our approach particularly suited for neurosurgery, and we illustrate the method with the example of endoscopic choroid plexus ablation. A novel parameterization of the robot characteristics is used in conjunction with a global pattern search optimization method. The formulation returns the design of the least-complex robot capable of reaching single or multiple target points in a confined space with constrained optimization metrics. A particular advantage of this approach is that it identifies the need for either fixed-curvature versus variable-curvature sections. We demonstrate the performance of the method in four clinically relevant examples.