Planning for Flexible Surgical Robots via Bézier Spline Translation

Fauser, Johannes; Chadda, Romol; Goergen, Yannik; Hessinger, Markus; Motzki, Paul; Stenin, Igor; Kristin, Julia; Klenzner, Thomas; Schipper, Jörg; Seelecke, Stefan; Werthschützky, Roland; Kupnik, Mario; Mukhopadhyay, Anirban

doi:10.1109/lra.2019.2926221

Cited by 9 publications

(3 citation statements)

References 24 publications

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“…Specifying N = 3, the expression is simplified as (4). The curvature constraint is expressed as (5), and S is the allowed maximal curvature value depending on robot kinematic constraints.…”

Section: Local Plannermentioning

confidence: 99%

“…A performant path planner should provide a reliable path within the catheter capability. Sampling-based methods such as extended probabilistic roadmap [8] and bidirectional rapidly exploring random tree (Bi-RRT) [5] are able to plan the path in configuration space. These methods have been coupled with Dubins path and Bézier spline to generate curvature bounded paths.…”

Section: Introductionmentioning

confidence: 99%

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Path planning for endovascular catheterization under curvature constraints via two-phase searching approach

Dankelman

Momi

2021

Int J CARS

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Purpose Planning a safe path for flexible catheters is one of the major challenges of endovascular catheterization. State-of-the-art methods rarely consider the catheter curvature constraint and reduced computational time of path planning which guarantees the possibility to re-plan the path during the actual operation. Methods In this manuscript, we propose a fast two-phase path planning approach under the robot curvature constraint. Firstly, the vascular structure is extracted and represented by vascular centerlines and corresponding vascular radii. Then, the path is searched along the vascular centerline using breadth first search (BFS) strategy and locally optimized via the genetic algorithm (GA) to satisfy the robot curvature constraint. This approach (BFS-GA) is able to respect the robot curvature constraint while keeping it close to the centerlines as much as possible. We can also reduce the optimization search space and perform parallel optimization to shorten the computational time. Results We demonstrate the method’s high efficiency in two-dimensional and three-dimensional space scenarios. The results showed the planner’s ability to satisfy the robot curvature constraint while keeping low computational time cost compared with sampling-based methods. Path replanning in femoral arteries can reach an updating frequency at $$6.4\pm 2.3$$ 6.4 ± 2.3 Hz. Conclusion The presented work is suited for surgical procedures demanding satisfying curvature constraints while optimizing specified criteria. It is also applicable for curvature constrained robots in narrow passages.

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“…Specifying N = 3, the expression is simplified as (4). The curvature constraint is expressed as (5), and S is the allowed maximal curvature value depending on robot kinematic constraints.…”

Section: Local Plannermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Path planning for endovascular catheterization under curvature constraints via two-phase searching approach

Dankelman

Momi

2021

Int J CARS

View full text Add to dashboard Cite

show abstract

“…Scholars at home and abroad put forward many traditional algorithms for vehicle path planning. Some researchers present vehicle motion planning with RRT-based theory [1]- [3], while others come up with algorithms based on one or several curves, such as Bezier curve [4], B-spline [5], [6] and Dubins curve [7], which all have good effects on their vehicle models, but all algorithms mentioned above cannot plan the path on the map that requires vehicle back-and-forth motion.…”

Section: B Related Workmentioning

confidence: 99%

A Novel Path Planning Method for Articulated Road Roller Using Support Vector Machine and Longest Accessible Path With Course Correction

Chen

Wang

et al. 2019

IEEE Access

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Aiming at Articulated Road Roller (ARR) path planning near the construction area, a novel path planning method using Support Vector Machine (SVM) and Longest Accessible Path with Course Correction (LAP-CC) is proposed. First, the feasible path selected by Goal-Directed RRT (GDRRT) will be repeated 20 times to determine which category the obstacle belongs to, and then the error penalty factor and kernel parameter of SVM are selected by the grid search and cross-validation parameter optimization algorithm. Then, A set of different virtual obstacles are used on both sides of ARR to control the start and end points of the zero-potential decision boundary. Next, Longest Accessible Path (LAP) is presented to search critical turning points on the decision boundary. Finally, Course Correction (CC) corrects ARR course at these critical turning points. Simulation experiments show that the novel path planning method for ARR using SVM and LAP-CC has the advantages of simplicity, feasibility, low computational cost and good repeatability.INDEX TERMS Support vector machine, longest accessible path, course correction, path planning, articulated road roller, virtual obstacles, error penalty factor, kernel parameter.

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Multi‐Objective Safety‐Enhanced Path Planning for the Anterior Part of a Flexible Ureteroscope in Robot‐Assisted Surgery

Zhang,

Fu,

Liu

et al. 2024

Robotics Computer Surgery

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BackgroundIn robot‐assisted flexible ureteroscopy, planning a safety‐enhanced path facilitates ureteroscope reaching the target safely and quickly. However, current methods rarely consider the safety impact caused by body motion of the anterior part, such as impingement on the lumen wall and sweeping motion risk, or the method can only be used in collision‐free situations.MethodsThe kinematic model of the anterior part under C‐shaped and S‐shaped collision bending is first analysed. Considering the newly defined impingement cost and sweeping area, the differential evolution algorithm is adopted to optimise the path in the configuration space. Experiments were performed to verify the effectiveness of the method.ResultsCompared with the competing algorithm, the proposed algorithm reduced impingement cost and sweeping area by an average of 31.0% and 8.64%. Force measurement experiments verified the rationality of the impingement cost expression.ConclusionThe experimental results proved the feasibility of the proposed path planning algorithm.

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Planning for Flexible Surgical Robots via Bézier Spline Translation

Cited by 9 publications

References 24 publications

Path planning for endovascular catheterization under curvature constraints via two-phase searching approach

Path planning for endovascular catheterization under curvature constraints via two-phase searching approach

A Novel Path Planning Method for Articulated Road Roller Using Support Vector Machine and Longest Accessible Path With Course Correction

Multi‐Objective Safety‐Enhanced Path Planning for the Anterior Part of a Flexible Ureteroscope in Robot‐Assisted Surgery

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