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

Gilbert, Hunter B.; Hendrick, Richard J.; Webster, Robert J.

doi:10.1109/tro.2015.2500422

Cited by 61 publications

(48 citation statements)

References 28 publications

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“…The concentric tubes approach is a third extracorporeal solution for robotizing the endoluminal surgery [13]. It aims at improving the motion control of catheters while reducing the overall size of the extracorporeal robotic system.…”

Section: Introductionmentioning

confidence: 99%

Design and Experimental Validation of an Active Catheter for Endovascular Navigation

Couture

Szewczyk

2017

Journal of Medical Devices

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Endovascular technique has many advantages but relies strongly on operator skills and experience. Robotically steerable catheters have been developed but few are clinically available.We describe here the development of an active and efficient catheter based on Shape Memory Alloys (SMA) actuators.We first establish the specifications of our device considering anatomical constraints. We then present a new method for building active SMA-based catheters. The proposed method relies on the use of a core body made of three parallel metallic beams and integrates wire-shaped SMA actuators. The complete device is encapsulated into a standard 6F catheter for safety purposes.A trial-error campaign comparing 70 different prototypes is then conducted to determine the best dimensions of the core structure and of the SMA actuators with respect to the imposed specifications. The final prototype is tested on a silicon-based arterial model and on a 23-kg pig.During these experiments we were able to cannulate the supra-aortic trunks and the renal arteries with different angulations and without any complication. * Corresponding authorA second major contribution of this paper is the derivation of a reliable mathematical model for predicting the bending angle of our active catheters. We first use this model to state some general qualitative rules useful for an iterative dimensional optimization. We then perform a quantitative comparison between the actual and the predicted bending angles for a set of 13 different prototypes. It happens that the relative error is less than 20% for bending angles between 100° and 150° which is the interval of interest for our applications.challenging and may result in an unsuccessful procedure. In most cases, several material exchanges are needed in one procedure, increasing the operative time. Several endovascular robotic systems have been developed to improve catheter navigation and reduce both the operating time and material.

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Section: Introductionmentioning

confidence: 99%

Design and Experimental Validation of an Active Catheter for Endovascular Navigation

Couture

Szewczyk

2017

Journal of Medical Devices

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“…In other words, the set V T is initialised with the vertex closest to p T . Then, iteratively, the vertex v k most distant to the set of vertices V T according to (9) is marked as additional target-vertex, i.e.…”

Section: Querying Of Roadmap -Iacmentioning

confidence: 99%

“…The latter result from the instability of CTR, which under certain configurations rapidly release energy after sufficient torsional wind-up of their tubular components [9]. These instabilities cause uncontrollable tube motion, which, if it occurs intraoperatively, may cause severe tissue trauma.…”

Section: Introductionmentioning

confidence: 99%

Implicit active constraints for safe and effective guidance of unstable concentric tube robots

Leibrandt

Bergeles

Yang

2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-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.

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“…Detailed models based on tube mechanics have been developed for the forward and inverse kinematics of CTRs. The most advanced models account for the torsional windup along the length of each tube, as well as the instability of configurations (equilibrium conformations) arising from torsion [10], [11]. Energy accumulated through the torsional wind-up of the tubes can rapidly release in certain tube configurations and cause uncontrollable motion [11], [12].…”

Section: Introductionmentioning

confidence: 99%

Concentric Tube Robots: Rapid, Stable Path-Planning and Guidance for Surgical Use

Leibrandt¹,

Bergeles

Yang³

2017

IEEE Robot. Automat. Mag.

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Abstract-The complex, non-intuitive kinematics of concentric tube robots can make their telemanipulation challenging. Collaborative control schemes that guide the operating clinician via repulsive and attractive force feedback based on intraoperative path-planning can simplify this task. Computationally efficient algorithms, however, are required to perform rapid path-planning and to solve the inverse kinematics of the robot at interactive rates. Until now, ensuring stable and collision-free robot configurations required long periods of pre-computation to establish kinematic look-up tables. This paper presents a high-performance robot kinematics software architecture, which is used together with a multi-node computational framework to rapidly calculate dense path-plans for safe telemanipulation of unstable concentric tube robots. The proposed software architecture enables on-the-fly incremental inverse-kinematics estimation at interactive rates, and is tailored to modern computing architectures with efficient multi-core CPUs. The effectiveness of the architecture is quantified with computationalcomplexity metrics, and in a clinically demanding simulation inspired from neurosurgery for hydrocephalus treatment. By achieving real-time path-planning active constraints can get generated on-the-fly and support the operator in faster and more reliable execution of telemanipulation tasks.

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

Cited by 61 publications

References 28 publications

Design and Experimental Validation of an Active Catheter for Endovascular Navigation

Design and Experimental Validation of an Active Catheter for Endovascular Navigation

Implicit active constraints for safe and effective guidance of unstable concentric tube robots

Concentric Tube Robots: Rapid, Stable Path-Planning and Guidance for Surgical Use

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