Optimal Dexterity for a Snake-like Surgical Manipulator using Patient-specific Task-space Constraints in a Computational Design Algorithm
Optimal Dexterity for a Snake-like Surgical Manipulator using Patient-specific Task-space Constraints in a Computational Design Algorithm
复制标题
在计算设计算法中使用特定于患者的任务空间约束来实现蛇形手术机械手的最佳灵活性
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Liao Wu
中科院分区：
文献类型：
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作者：
A. Razjigaev;A. Pandey;Jonathan M. Roberts;Liao Wu
肌腱驱动的蛇形臂已被用于创建高度灵巧的连续体机器人，以便它们可以围绕解剖障碍物弯曲以接近临床目标。在本文中，我们提出了一种设计算法，用于开发患者特定的手术连续操作器优化的东方灵巧的任务空间障碍的约束。该算法使用基于采样的方法来找到由体素离散的工作空间中的灵巧度分布。在任务空间中的感兴趣区域中测量的东方灵巧性形成了通过差分进化进行优化的适应度函数。这是实现在肌腱驱动的膝关节镜手术机械手的设计。结果表明，一个可行的设计，实现了显着更好的灵活性比刚性工具。这突出了潜在的所提出的方法被用于在该领域的灵巧的手术机械手的设计过程中。
Tendon-driven snake-like arms have been used to create highly dexterous continuum robots so that they can bend around anatomical obstacles to access clinical targets. In this paper, we propose a design algorithm for developing patient-specific surgical continuum manipulators optimized for oriental dexterity constrained by task-space obstacles. The algorithm uses a sampling-based approach to finding the dexterity distribution in the workspace discretized by voxels. The oriental dexterity measured in the region of interest in the task-space formed a fitness function to be optimized through differential evolution. This was implemented in the design of a tendon-driven manipulator for knee arthroscopy. The results showed a feasible design that achieves significantly better dexterity than a rigid tool. This highlights the potential of the proposed method to be used in the process of designing dexterous surgical manipulators in the field.
影响因子：
7.8
作者：
Burgner-Kahrs, Jessica;Rucker, D. Caleb;Choset, Howie
通讯作者：
Choset, Howie