Leibrandt, K;
Bergeles, C;
Yang, GZ;
(2016)
Implicit active constraints for safe and effective guidance of unstable concentric tube robots.
In:
Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on.
(pp. pp. 1157-1163).
IEEE
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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.
| Type: | Proceedings paper |
|---|---|
| Title: | Implicit active constraints for safe and effective guidance of unstable concentric tube robots |
| Event: | IROS 2016: IEEE/RSJ International Conference on Intelligent Robots and Systems, 9-14 October 2016, Daejeon, South Korea |
| Location: | Korea |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/IROS.2016.7759195 |
| Publisher version: | https://doi.org/10.1109/IROS.2016.7759195 |
| Language: | English |
| Additional information: | © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
| Keywords: | Robots, Electron tubes, Kinematics, Collision avoidance, Real-time systems, Navigation, Shape |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/1503366 |
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