Concentric Tube Robot Redundancy Resolution via Velocity/Compliance Manipulability Optimization

Shen, Jia; Wang, Yifan; Azizkhani, Milad; Qiu, Deqiang; Chen, Yue

doi:10.1109/lra.2023.3318115

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Cited by 2 publications

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Hierarchy Control of Dual-Arm Concentric Tube Continuum Robots with Different Redundancy Resolution Techniques

Alsaka,

Cinquin,

Chikhaoui

2024

Advances in Robot Kinematics 2024

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Hierarchy Control of Dual-Arm Concentric Tube Continuum Robots with Different Redundancy Resolution Techniques

Alsaka,

Cinquin,

Chikhaoui

2024

Advances in Robot Kinematics 2024

View full text Add to dashboard Cite

Optimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal

Huang,

Alkhars,

Gunderman

et al. 2023

Journal of Mechanisms and Robotics

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Purpose: The purpose of this paper is to investigate the geometrical design and path planning of Concentric tube robots (CTR) for intracerebral hemorrhage (ICH) evacuation, with a focus on minimizing the risk of damaging white matter tracts and cerebral arteries. Methods: To achieve our objective, we propose a parametrization method describing a general class of CTR geometric designs. We present mathematical models that describe the CTR design constraints and provide the calculation of a path risk value. We then use a genetic algorithm to determine the optimal tube geometry for targeting within the brain. Results: Our results show that a multi-tube CTR design can significantly reduce the risk of damaging critical brain structures compared to the conventional straight tube design. However, there is no significant relationship between the path risk value and the number and shape of the additional inner curved tubes. Conclusion: Considering the challenges of CTR hardware design, fabrication, and control, we conclude that the most practical geometry for a CTR path in ICH treatment is a straight outer tube followed by a planar curved inner tube. These findings have important implications for the development of safe and effective CTRs for ICH evacuation by enabling dexterous manipulation to minimize damage to critical brain structures.

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Concentric Tube Robot Redundancy Resolution via Velocity/Compliance Manipulability Optimization

Cited by 2 publications

References 20 publications

Hierarchy Control of Dual-Arm Concentric Tube Continuum Robots with Different Redundancy Resolution Techniques

Hierarchy Control of Dual-Arm Concentric Tube Continuum Robots with Different Redundancy Resolution Techniques

Optimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal

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