Safe and effective telemanipulation of concentric tube robots is hindered by their complex, non-intuitive kinematics. In order for clinicians to operate these robots naturally, guidance schemes in the form of attractive and repulsive constraints can simplify task execution. The real-time seamless calculation and application of guidance, however, requires computationally efficient algorithms that solve the non-linear inverse kinematics of the robot and guarantee that the commanded robot configuration is stable and sufficiently away from the anatomy. This paper presents a multi-processor framework that allows on-the-fly calculation of optimal safe paths based on rapid workspace and roadmap precomputation. The realtime nature of the developed software enables complex guidance constraints to be implemented with minimal computational overhead. A clinically challenging user study demonstrates that the incorporated guiding constraints are highly beneficial for fast and accurate navigation with concentric tube robots.
Implicit active constraints for safe and effective guidance of unstable concentric tube robots
2016-12-01
In: Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on. (pp. pp. 1157-1163). IEEE (2016)
Paper
Electronic Resource
English
DDC: | 629 |
Concentric Tube Robots Rapid, Stable Path-Planning and Guidance for Surgical Use
BASE | 2017
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