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Concentric tube robot design and optimization based on task and anatomical constraints

Publication ,  Journal Article
Bergeles, C; Gosline, AH; Vasilyev, NV; Codd, PJ; Del Nido, PJ; Dupont, PE
Published in: IEEE Transactions on Robotics
February 1, 2015

Concentric tube robots are catheter-sized continuum robots that are well suited for minimally invasive surgery inside confined body cavities. These robots are constructed from sets of precurved superelastic tubes and are capable of assuming complex 3-D curves. The family of 3-D curves that the robot can assume depends on the number, curvatures, lengths, and stiffnesses of the tubes in its tube set. The robot design problem involves solving for a tube set that will produce the family of curves necessary to perform a surgical procedure. At a minimum, these curves must enable the robot to smoothly extend into the body and to manipulate tools over the desired surgical workspace while respecting anatomical constraints. This paper introduces an optimization framework that utilizes procedure- or patient-specific image-based anatomical models along with surgical workspace requirements to generate robot tube set designs. The algorithm searches for designs that minimize robot length and curvature and for which all paths required for the procedure consist of stable robot configurations. Two mechanics-based kinematic models are used. Initial designs are sought using a model assuming torsional rigidity. These designs are then refined using a torsionally compliant model. The approach is illustrated with clinically relevant examples from neurosurgery and intracardiac surgery.

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Published In

IEEE Transactions on Robotics

DOI

ISSN

1552-3098

Publication Date

February 1, 2015

Volume

31

Issue

1

Start / End Page

67 / 84

Related Subject Headings

  • Industrial Engineering & Automation
  • 4007 Control engineering, mechatronics and robotics
  • 0913 Mechanical Engineering
  • 0906 Electrical and Electronic Engineering
  • 0801 Artificial Intelligence and Image Processing
 

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Bergeles, C., Gosline, A. H., Vasilyev, N. V., Codd, P. J., Del Nido, P. J., & Dupont, P. E. (2015). Concentric tube robot design and optimization based on task and anatomical constraints. IEEE Transactions on Robotics, 31(1), 67–84. https://doi.org/10.1109/TRO.2014.2378431
Bergeles, C., A. H. Gosline, N. V. Vasilyev, P. J. Codd, P. J. Del Nido, and P. E. Dupont. “Concentric tube robot design and optimization based on task and anatomical constraints.” IEEE Transactions on Robotics 31, no. 1 (February 1, 2015): 67–84. https://doi.org/10.1109/TRO.2014.2378431.
Bergeles C, Gosline AH, Vasilyev NV, Codd PJ, Del Nido PJ, Dupont PE. Concentric tube robot design and optimization based on task and anatomical constraints. IEEE Transactions on Robotics. 2015 Feb 1;31(1):67–84.
Bergeles, C., et al. “Concentric tube robot design and optimization based on task and anatomical constraints.” IEEE Transactions on Robotics, vol. 31, no. 1, Feb. 2015, pp. 67–84. Scopus, doi:10.1109/TRO.2014.2378431.
Bergeles C, Gosline AH, Vasilyev NV, Codd PJ, Del Nido PJ, Dupont PE. Concentric tube robot design and optimization based on task and anatomical constraints. IEEE Transactions on Robotics. 2015 Feb 1;31(1):67–84.

Published In

IEEE Transactions on Robotics

DOI

ISSN

1552-3098

Publication Date

February 1, 2015

Volume

31

Issue

1

Start / End Page

67 / 84

Related Subject Headings

  • Industrial Engineering & Automation
  • 4007 Control engineering, mechatronics and robotics
  • 0913 Mechanical Engineering
  • 0906 Electrical and Electronic Engineering
  • 0801 Artificial Intelligence and Image Processing