Algorithms for Design of Continuum Robots Using the Concentric Tubes Approach: A Neurosurgical Example
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 leastcomplex 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 variablecurvature sections. We demonstrate the performance of the method in four clinically relevant examples.
Tomer Anor Joseph R. Madsen Pierre Dupont
Department of Neurosurgery,Childrens Hospital Boston,Harvard Medical School,Boston,MA 02115 USA Cardiovascular Surgery,Childrens Hospital Boston,Harvard Medical School,Boston,MA 02115
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
667-673
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）