TY  - GEN
N1  - © 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.
TI  - Implicit active constraints for safe and effective guidance of unstable concentric tube robots
SP  - 1157
AV  - public
Y1  - 2016/12/01/
EP  - 1163
A1  - Leibrandt, K
A1  - Bergeles, C
A1  - Yang, GZ
KW  - Robots
KW  - 
Electron tubes
KW  - 
Kinematics
KW  - 
Collision avoidance
KW  - 
Real-time systems
KW  - 
Navigation
KW  - 
Shape
N2  - 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.
ID  - discovery1503366
UR  - https://doi.org/10.1109/IROS.2016.7759195
PB  - IEEE
SN  - 2153-0858
ER  -