Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment.
Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment.
复制标题
DOI：
10.1109/tro.2015.2394331
复制
发表时间：
2015-04
期刊：
影响因子：
--
通讯作者：
Webster RJ 3rd
中科院分区：
文献类型：
--
作者：
Gilbert HB;Neimat J;Webster RJ 3rd
如果同心管机器人能够穿过软组织、沿沿着所需路径通过开放腔部署或沿沿着缠绕腔行进，则它们可以实现新的临床干预。这些行为要求机器人以这样的方式展开：当尖端向前前进时，其轴的弯曲形状保持不变（即，“跟随领导者”部署）。由于形成机器人的管之间的弹性（特别是扭转）耦合，跟随领导者部署对于同心管机器人是具有挑战性的。然而，正如我们在本文中所展示的，只要适当地选择管的曲率和部署顺序，跟随领导者部署是可能的。我们开始通过定义跟随领导者部署和提供的条件，必须满足一个同心管机器人实现it.Then我们检查几个有用的特殊情况下跟随领导者部署，显示圆形和螺旋形的曲率都可以使用，并提供一个实验说明的螺旋情况。我们还探讨了近似的跟随领导者的行为，并提供了一个度量的相似性一般部署跟随领导者的部署。最后，我们考虑进入大脑中的海马体来治疗癫痫，作为跟随领导者部署的激励性临床例子。
Concentric tube robots can enable new clinical interventions if they are able to pass through soft tissue, deploy along desired paths through open cavities, or travel along winding lumens. These behaviors require the robot to deploy in such a way that the curved shape of its shaft remains unchanged as the tip progresses forward (i.e., “follow-the-leader” deployment). Follow-the-leader deployment is challenging for concentric tube robots due to elastic (and particularly torsional) coupling between the tubes that form the robot. However, as we show in this paper, follow-the-leader deployment is possible, provided that tube precurvatures and deployment sequences are appropriately selected. We begin by defining follow-the-leader deployment and providing conditions that must be satisfied for a concentric tube robot to achieve it. We then examine several useful special cases of follow-the-leader deployment, showing that both circular and helical precurvatures can be employed, and provide an experimental illustration of the helical case. We also explore approximate follow-the-leader behavior and provide a metric for the similarity of a general deployment to a follow-the-leader deployment. Finally, we consider access to the hippocampus in the brain to treat epilepsy, as a motivating clinical example for follow-the-leader deployment.