Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots

Greigarn, Tipakorn; Poirot, Nate Lombard; Xu, Xinyang; Çavuşoğlu, M. Cenk

doi:10.1109/lra.2018.2881987

Cited by 32 publications

(19 citation statements)

References 30 publications

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“…The pseudo-rigid body methods replace the continuum with an approximating rigid linkage. If the curve is broken into a sequence of chords with rotational joints at the nodes joining the chords, then this is equivalent to a spatial “lumping” of the flexural strains into a discrete point via the use of the Dirac delta distribution ( Chirikjian and Burdick, 1991 ; Greigarn et al, 2019 ).

…”

Section: Review Of the State Of The Artmentioning

confidence: 99%

On the Mathematical Modeling of Slender Biomedical Continuum Robots

Gilbert

2021

Front. Robot. AI

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The passive, mechanical adaptation of slender, deformable robots to their environment, whether the robot be made of hard materials or soft ones, makes them desirable as tools for medical procedures. Their reduced physical compliance can provide a form of embodied intelligence that allows the natural dynamics of interaction between the robot and its environment to guide the evolution of the combined robot-environment system. To design these systems, the problems of analysis, design optimization, control, and motion planning remain of great importance because, in general, the advantages afforded by increased mechanical compliance must be balanced against penalties such as slower dynamics, increased difficulty in the design of control systems, and greater kinematic uncertainty. The models that form the basis of these problems should be reasonably accurate yet not prohibitively expensive to formulate and solve. In this article, the state-of-the-art modeling techniques for continuum robots are reviewed and cast in a common language. Classical theories of mechanics are used to outline formal guidelines for the selection of appropriate degrees of freedom in models of continuum robots, both in terms of number and of quality, for geometrically nonlinear models built from the general family of one-dimensional rod models of continuum mechanics. Consideration is also given to the variety of actuators found in existing designs, the types of interaction that occur between continuum robots and their biomedical environments, the imposition of constraints on degrees of freedom, and to the numerical solution of the family of models under study. Finally, some open problems of modeling are discussed and future challenges are identified.

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…”

Section: Review Of the State Of The Artmentioning

confidence: 99%

On the Mathematical Modeling of Slender Biomedical Continuum Robots

Gilbert

2021

Front. Robot. AI

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“…Continuum robots (Burgner-Kahrs et al, 2015), which possess flexible bodies, are an ideal solution to the anatomical constraints imposed in transnasal procedures. These robots have been proposed for other delicate procedures in constrained workspaces, including, for example, intravascular procedures (Greigarn et al, 2019) and neurosurgical procedures (Kim et al, 2017). Robotic continuum endoscopes have been designed to provide visualization within the sinuses (Yoon et al, 2011) and nasopharynx (Sun and Ren, 2015), and transnasal robots have also been proposed for micro-surgery of the throat (Bajo et al, 2013) and surgery within the maxillary sinus (Yoon et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

A modular, multi-arm concentric tube robot system with application to transnasal surgery for orbital tumors

Bruns

Remirez

Emerson

et al. 2021

The International Journal of Robotics Research

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In the development of telemanipulated surgical robots, a class of continuum robots known as concentric tube robots has drawn particular interest for clinical applications in which space is a major limitation. One such application is transnasal surgery, which is used to access surgical sites in the sinuses and at the skull base. Current techniques for performing these procedures require surgeons to maneuver multiple rigid tools through the narrow confines of the nasal passages, leaving them with limited dexterity at the surgical site. In this article, we present a complete robotic system for transnasal surgery featuring concentric tube manipulators. It illustrates a bagging concept for sterility, and intraoperatively interchangeable instruments that work in conjunction with it, which were developed with operating room workflow compatibility in mind. The system also includes a new modular, portable surgeon console, a variable view-angle endoscope to facilitate surgical field visualization, and custom motor control electronics. Furthermore, we demonstrate elastic instability avoidance for the first time on a physical prototype in a geometrically accurate surgical scenario, which facilitates use of higher curvature tubes than could otherwise be used safely in this application. From a surgical application perspective, this article presents the first robotic approach to removing tumors growing behind the eyes in the orbital apex region, which has not been attempted previously with a surgical robot.

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“…Other approaches for needle steering include a loop-shaped flexible mechanism [11], notched steerable needles [12], and magnetic steering [13]. Current research mostly focuses on improving control mechanisms of the steerable needles as well as transferring these needles from laboratory to clinical settings [14], [15], [16], [17]. Considering the limitations of current steerable needles specifically effect of torsional friction while duty cycling [18], proposing new ways to control the curvature of the steerable needles seems to be necessary.…”

Section: Introductionmentioning

confidence: 99%

Fracture-directed Waterjet Needle Steering: Design, Modeling, and Path Planning

Babaiasl

Yang

Boccelli

et al. 2020

2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)

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Steerable needle technology has the promise of improving outcomes by enhancing the accuracy of different therapies and biopsies, as they can be steered to a target location around obstacles. Achieving small radius of curvature and being able to control both radius of curvature and tip travel are of paramount importance in steerable needles to accomplish the increase in efficacy of the medical procedures. In this paper, we present a new class of the steerable needles, which we call waterjet-directed steerable needles, where the underlying principle is to first control the direction of tissue fracture with waterjet, after which the needle will follow during subsequent insertion. In this paper, the direction of the tissue fracture is controlled by an angled waterjet nozzle and control of the water velocity, and then the flexible Nitinol needle follows. It is shown that by changing the velocity of waterjet and thus depth of cut, radius of curvature can be controlled. A discrete-step kinematic model is used to model the motion of the waterjet steerable needle. This model consist of two parts: (1) the mechanicsbased model predicts the cut-depth of waterjet in soft tissue based on soft tissue properties, waterjet diameter, and water exit velocity, and (2) a discrete-step kinematic unicycle model of the steerable needle travel. Path planning is accomplished through a genetic algorithm, and the efficacy of waterjet steerable needle is tested for different paths. The key finding of the paper is that the radius of curvature of the waterjet steerable needle can be controlled by a fixed waterjet tip angle and varying water exit velocity to control the depth of cut.

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Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots

Cited by 32 publications

References 30 publications

On the Mathematical Modeling of Slender Biomedical Continuum Robots

On the Mathematical Modeling of Slender Biomedical Continuum Robots

A modular, multi-arm concentric tube robot system with application to transnasal surgery for orbital tumors

Fracture-directed Waterjet Needle Steering: Design, Modeling, and Path Planning

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