Achieving elastic stability of concentric tube robots through optimization of tube precurvature

Ha, Junhyoung; Park, Frank Chongwoo; Dupont, Pierre E.

doi:10.1109/iros.2014.6942661

Cited by 34 publications

(32 citation statements)

References 9 publications

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“…The equations and boundary conditions of Corollary 1 were previously derived in [14], but the result in terms of local stability was not stated and the result was not derived in the context of examining the system energy. We also have the following corollary due to the continuity of h ′ (1) and h ( β σ ) with respect to changes in λ and rotational actuation and the symmetry of the two stability problems.…”

Section: Bifurcation and Elastic Stability Of Two-tube Robotsmentioning

confidence: 99%

“…However, even using this approach, snaps will still occur if high curvatures are employed, so methods for design and snap prediction will still be needed. Another approach is to use non-constant precurvature tubes to enhance the elastic stability, as shown by Ha et al [14]. In that work, analytical stability conditions for a two-tube robot with planar precurvatures are presented, and an optimal control problem is used to design tube precurvatures which result in a completely stable actuation space.…”

Section: Introductionmentioning

confidence: 99%

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Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test

2016

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Concentric tube robots are needle-sized manipulators which have been investigated for use in minimally invasive surgeries. It was noted early in the development of these devices that elastic energy storage can lead to rapid snapping motion for designs with moderate to high tube curvatures. Substantial progress has recently been made in the concentric tube robot community in designing snap-free robots, planning stable paths, and characterizing conditions that result in snapping for specific classes of concentric tube robots. However, a general measure for how stable a given robot configuration is has yet to be proposed. In this paper, we use bifurcation and elastic stability theory to provide such a measure, as well as to produce a test for determining whether a given design is snap-free (i.e. whether snapping can occur anywhere in the unloaded robot’s workspace). These results are useful in designing, planning motions for, and controlling concentric tube robots with high curvatures.

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Section: Bifurcation and Elastic Stability Of Two-tube Robotsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test

2016

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“…Ha et al presented a method for designing concentric tube robots while maximizing device stability [4]. The method complements this paper’s approach to computing sets of concentric tube robot designs.…”

Section: Related Workmentioning

confidence: 99%

Optimizing design parameters for sets of concentric tube robots using sampling-based motion planning

Baykal

Torres

Alterovitz

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Concentric tube robots are tentacle-like medical robots that can bend around anatomical obstacles to access hard-to-reach clinical targets. The component tubes of these robots can be swapped prior to performing a task in order to customize the robot’s behavior and reachable workspace. Optimizing a robot’s design by appropriately selecting tube parameters can improve the robot’s effectiveness on a procedure-and patient-specific basis. In this paper, we present an algorithm that generates sets of concentric tube robot designs that can collectively maximize the reachable percentage of a given goal region in the human body. Our algorithm combines a search in the design space of a concentric tube robot using a global optimization method with a sampling-based motion planner in the robot’s configuration space in order to find sets of designs that enable motions to goal regions while avoiding contact with anatomical obstacles. We demonstrate the effectiveness of our algorithm in a simulated scenario based on lung anatomy.

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“…Burgner et al extended this work to characterize the workspace of concentric tube robots [4,5]. Ha et al present a method for generating designs to maximize device stability [12]. By focusing only on computing designs and goal configurations, the works above cannot guarantee that a collision-free path from start to goal exists for the computed design.…”

Section: Related Workmentioning

confidence: 99%

Asymptotically Optimal Design of Piecewise Cylindrical Robots using Motion Planning

Baykal

Alterovitz

2017

Robotics: Science and Systems XIII

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Abstract-In highly constrained settings, e.g., a tentacle-like medical robot maneuvering through narrow cavities in the body for minimally invasive surgery, it may be difficult or impossible for a robot with a generic kinematic design to reach all desirable targets while avoiding obstacles. We introduce a design optimization method to compute kinematic design parameters that enable a single robot to reach as many desirable goal regions as possible while avoiding obstacles in an environment. We focus on the kinematic design of piecewise cylindrical robots, robotic manipulators whose shape can be modeled via cylindrical components. Our method appropriately integrates sampling-based motion planning in configuration space into stochastic optimization in design space so that, over time, our evaluation of a design's ability to reach goals increases in accuracy and our selected designs approach global optimality. We prove the asymptotic optimality of our method and demonstrate performance in simulation for (i) a serial manipulator and (ii) a concentric tube robot, a tentaclelike medical robot that can bend around anatomical obstacles to safely reach clinically-relevant goal regions.

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Achieving elastic stability of concentric tube robots through optimization of tube precurvature

Cited by 34 publications

References 9 publications

Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test

Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test

Optimizing design parameters for sets of concentric tube robots using sampling-based motion planning

Asymptotically Optimal Design of Piecewise Cylindrical Robots using Motion Planning

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