On the computational design of concentric tube robots: Incorporating volume-based objectives

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2013, Pages 1193-1198

  Burgner, Jessica ^b   Gilbert, Hunter B ^a   Webster, Robert J ^a  

^a VANDERBILT UNIVERSITY   (United States)

^b LEIBNIZ UNIVERSITY HANNOVER   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL DESIGN; DESIGN OPTIMIZATION; DESIGN PARAMETERS; DISCRETE PARAMETERS; MODEL COMPUTATION; MULTI-OBJECTIVE DESIGN OPTIMIZATION; PITUITARY SURGERY; TORSIONAL RIGIDITY;

APPROXIMATION ALGORITHMS; MACHINE DESIGN; OPTIMIZATION; ROBOTICS; ROBOTS; SURGERY; TUBES (COMPONENTS);

SURGICAL EQUIPMENT;

EID: 84882983029     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2013.6630723     Document Type: Conference Paper

References (21)

1. D C Rucker, R J Webster III, G S Chirikjian, and N J Cowan, "Equilibrium Conformations of Concentric-Tube Continuum Robots," International Journal of Robotics Research, vol 29, no 10, pp 1263-1280, 2010.
2. P E Dupont, J Lock, B Itkowitz, and E Butler, "Design and Control of Concentric-Tube Robots," IEEE Transactions on Robotics, vol 26, no 2, pp 209-225, 2010.
3. D C Rucker, B A Jones, and R J Webster III, "A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots," IEEE Transactions on Robotics, vol 26, no 5, pp 769-780, 2010.
4. "Mayo Clinic," 2012 (Online) Available: http://www.mayoclinic. org/medicalprofs/enlargeimage5988.html
5. R Vijaykumar, K Waldron, and M Tsai, "Geometric Optimization of Serial Chain Manipulator Structures for Working Volume and Dexterity," The International Journal of Robotics Research, vol 5, no 2, pp 91-103, 1986.
6. C J J Paredis and P K Khosla, "Kinematic Design of Serial Link Manipulators From Task Specifications," The International Journal of Robotics Research, vol 12, no 3, pp 274-287, 1993.
7. J.-P Merlet, "Designing a Parallel Manipulator for a Specific Workspace," The International Journal of Robotics Research, vol 16, no 4, pp 545-556, 1997.
8. F Hao and J.-P Merlet, "Multi-criteria optimal design of parallel manipulators based on interval analysis," Mechanism and Machine Theory, vol 40, no 2, pp 157-171, 2005.
9. R J Webster, III, J M Romano, and N J Cowan, "Mechanics of Precurved-Tube Continuum Robots," IEEE Transactions on Robotics, vol 25, no 1, pp 67-78, 2009.
10. T Anor, J R Madsen, and P Dupont, "Algorithms for Design of Continuum Robots Using the Concentric Tubes Approach: A Neurosurgical Example." in IEEE International Conference on Robotics and Automation, 2011, pp 667-673.
11. C Bedell, J Lock, A Gosline, and P E Dupont, "Design Optimization of Concentric Tube Robots Based on Task and Anatomical Constraints." in IEEE International Conference on Robotics and Automation, 2011, pp 398-403.
12. J Burgner, P J Swaney, D C Rucker, H B Gilbert, S T Nill, P T Russell, K D Weaver, and R J Webster, "A bimanual teleoperated system for endonasal skull base surgery," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, pp 2517-2523.
13. J Boisvert, F Cheriet, X Pennec, H Labelle, and N Ayache, "Geometric variability of the scoliotic spine using statistics on articulated shape models." IEEE Transactions on Medical Imaging, vol 27, no 4, pp 557-68, 2008.
14. S M Pizer, D S Fritsch, P a Yushkevich, V E Johnson, and E L Chaney, "Segmentation, registration, and measurement of shape variation via image object shape." IEEE Transactions on Medical Imaging, vol 18, no 10, pp 851-65, 1999.
15. E A Alkofide, "The shape and size of the sella turcica in skeletal Class I, Class II, and Class III Saudi subjects." European Journal of Orthodontics, vol 29, no 5, pp 457-63, 2007.
16. J Lagarias, J A Reeds, M H Wright, and P E Wrigh, "Convergence Properties of the Nelder-Mead Simplex Method in Low Dimensions," SIAM Journal of Optimization, vol 9, no 1, pp 112-147, 1998.
17. C Walsh, J Franklin, A H Slocum, and R Gupta, "Characterization of Precurved Needles for Use in Distal Tip Manipulation Mechanisms," Journal of Medical Devices, vol 4, no 2, p 027536, 2010.
18. J Burgner, P J Swaney, R A Lathrop, K D Weaver, and R J Webster III, "Robot-assisted intracerebral hemorrhage evacuation: An experimental evaluation," in Proc SPIE 8671, 2013.
19. P J Swaney, J Burgner, and R J Webster III, "A Flexure-Based Wrist for Needle-Sized Surgical Robots," in Proc SPIE 8671, 2013.
20. L Torres and R Alterovitz, "Motion Planning for Concentric Tube Robots Using Mechanics-based Models," in Proc IEEE/RSJ Int Conf on Intelligent Robots and Systems (IROS), 2011, pp 5153-5159.
21. I Ebert-Uphoff and G S Chirikjian, "Efficient workspace generation for binary manipulators with many actuators," Journal of Robotic Systems, vol 12, no 6, pp 383-400, Jun 1995.