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Implicit active constraints for concentric tube robots based on analysis of the safe and dexterous workspace

Leibrandt, K; Bergeles, C; Yang, GZ; (2017) Implicit active constraints for concentric tube robots based on analysis of the safe and dexterous workspace. In: IEEE (In press).

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Abstract

The use of concentric tube robots has recognized advantages for accessing target lesions while conforming to certain anatomical constraints. However, their complex kinematics makes their safe telemanipulation in convoluted anatomy a challenging task. Collaborative control schemes, which guide the operator through haptic and visual feedback, can simplify this task and reduce the cognitive burden of the operator. Guaranteeing stable, collision-free robot configurations during manipulation, however, is computationally demanding and, until now, either required long periods of pre-computation time or distributed computing clusters. Furthermore, the operator is often presented with guidance paths which have to be followed approximately. This paper presents a heterogeneous (CPU/GPU) computing approach to enable rapid workspace analysis on a single computer. The method is used in a new navigation scheme that guides the robot operator towards locations of high dexterity or manipulability of the robot. Under this guidance scheme, the user can make informed decisions and maintain full control of the path planning and manipulation processes, with intuitive visual feedback on when the robot’s limitations are being reached.

Type: Proceedings paper
Title: Implicit active constraints for concentric tube robots based on analysis of the safe and dexterous workspace
Publisher version: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnum...
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
UCL classification: UCL > School of BEAMS
UCL > School of BEAMS > Faculty of Engineering Science
URI: http://discovery.ucl.ac.uk/id/eprint/10034067
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