Task-oriented design of concentric tube robots using mechanics-based models
作者： Luis G. Torres , Robert J. Webster , Ron Alterovitz
DOI: 10.1109/IROS.2012.6386041
关键词: Configuration space 、 Control engineering 、 Motion planning 、 Design methods 、 Leverage (statistics) 、 Simulation 、 Robot 、 Robot kinematics 、 Probabilistic logic 、 Task (project management) 、 Engineering
摘要: We introduce a method for task-oriented design of concentric tube robots, which are tentacle-like robots with the potential to enable new minimally invasive surgical procedures. Our objective is create robot on patient-specific and surgery-specific basis reach multiple clinically relevant sites while avoiding anatomical obstacles. uses mechanically accurate model kinematics that considers robot's time-varying shape throughout performance task. combines search over space sampling-based motion planning its configuration compute under can feasibly perform specified task without damaging surrounding tissues. To accelerate algorithm, we leverage coherence, observation collision-free spaces similar designs similar. If solution exists, our guaranteed, as time allowed increase, find corresponding feasible plan. provide examples illustrating importance using models during demonstrating method's effectiveness in medically motivated simulated scenario involving navigation through lung.
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