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Design optimization of a contact-aided continuum robot for endobronchial interventions based on anatomical constraints
PURPOSE: A laser-profiled continuum robot (CR) with a series of interlocking joints has been developed in our center to reach deeper areas of the airways. However, it deflects with constant curvature, which thus increases the difficulty of entering specific bronchi without relying on the tissue reac...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Springer International Publishing
2019
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6570708/ https://www.ncbi.nlm.nih.gov/pubmed/30989504 http://dx.doi.org/10.1007/s11548-019-01972-8 |
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author | Ros-Freixedes, Laura Gao, Anzhu Liu, Ning Shen, Mali Yang, Guang-Zhong |
author_facet | Ros-Freixedes, Laura Gao, Anzhu Liu, Ning Shen, Mali Yang, Guang-Zhong |
author_sort | Ros-Freixedes, Laura |
collection | PubMed |
description | PURPOSE: A laser-profiled continuum robot (CR) with a series of interlocking joints has been developed in our center to reach deeper areas of the airways. However, it deflects with constant curvature, which thus increases the difficulty of entering specific bronchi without relying on the tissue reaction forces. This paper aims to propose an optimization framework to find the best design parameters for nonconstant curvature CRs to reach distal targets while attempting to avoid the collision with the surrounding tissue. METHODS: First, the contact-aided compliant mechanisms (CCMs) are integrated with the continuum robot to achieve the nonconstant curvature. Second, forward kinematics considering CCMs is built. Third, inverse kinematics is implemented to steer the robot tip toward the desired targets within the confined anatomy. Finally, an optimization framework is proposed to find the best robot design to reach the target with the least collision to the bronchi walls. RESULTS: Experiments are carried out to verify the feasibility of CCMs to enable the nonconstant curvature deflection, and simulations demonstrate a lower cost function value to reach a target for the nonconstant curvature optimized design with respect to the standard constant curvature robot (0.11 vs. 2.66). In addition, the higher capacity of the optimized design to complete the task is validated by interventional experiments using fluoroscopy. CONCLUSION: Results demonstrate the effectiveness of the proposed framework to find an optimized CR with nonconstant curvature to perform safer interventions to reach distal targets. ELECTRONIC SUPPLEMENTARY MATERIAL: The online version of this article (10.1007/s11548-019-01972-8) contains supplementary material, which is available to authorized users. |
format | Online Article Text |
id | pubmed-6570708 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2019 |
publisher | Springer International Publishing |
record_format | MEDLINE/PubMed |
spelling | pubmed-65707082019-07-01 Design optimization of a contact-aided continuum robot for endobronchial interventions based on anatomical constraints Ros-Freixedes, Laura Gao, Anzhu Liu, Ning Shen, Mali Yang, Guang-Zhong Int J Comput Assist Radiol Surg Original Article PURPOSE: A laser-profiled continuum robot (CR) with a series of interlocking joints has been developed in our center to reach deeper areas of the airways. However, it deflects with constant curvature, which thus increases the difficulty of entering specific bronchi without relying on the tissue reaction forces. This paper aims to propose an optimization framework to find the best design parameters for nonconstant curvature CRs to reach distal targets while attempting to avoid the collision with the surrounding tissue. METHODS: First, the contact-aided compliant mechanisms (CCMs) are integrated with the continuum robot to achieve the nonconstant curvature. Second, forward kinematics considering CCMs is built. Third, inverse kinematics is implemented to steer the robot tip toward the desired targets within the confined anatomy. Finally, an optimization framework is proposed to find the best robot design to reach the target with the least collision to the bronchi walls. RESULTS: Experiments are carried out to verify the feasibility of CCMs to enable the nonconstant curvature deflection, and simulations demonstrate a lower cost function value to reach a target for the nonconstant curvature optimized design with respect to the standard constant curvature robot (0.11 vs. 2.66). In addition, the higher capacity of the optimized design to complete the task is validated by interventional experiments using fluoroscopy. CONCLUSION: Results demonstrate the effectiveness of the proposed framework to find an optimized CR with nonconstant curvature to perform safer interventions to reach distal targets. ELECTRONIC SUPPLEMENTARY MATERIAL: The online version of this article (10.1007/s11548-019-01972-8) contains supplementary material, which is available to authorized users. Springer International Publishing 2019-04-15 2019 /pmc/articles/PMC6570708/ /pubmed/30989504 http://dx.doi.org/10.1007/s11548-019-01972-8 Text en © The Author(s) 2019 Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. |
spellingShingle | Original Article Ros-Freixedes, Laura Gao, Anzhu Liu, Ning Shen, Mali Yang, Guang-Zhong Design optimization of a contact-aided continuum robot for endobronchial interventions based on anatomical constraints |
title | Design optimization of a contact-aided continuum robot for endobronchial interventions based on anatomical constraints |
title_full | Design optimization of a contact-aided continuum robot for endobronchial interventions based on anatomical constraints |
title_fullStr | Design optimization of a contact-aided continuum robot for endobronchial interventions based on anatomical constraints |
title_full_unstemmed | Design optimization of a contact-aided continuum robot for endobronchial interventions based on anatomical constraints |
title_short | Design optimization of a contact-aided continuum robot for endobronchial interventions based on anatomical constraints |
title_sort | design optimization of a contact-aided continuum robot for endobronchial interventions based on anatomical constraints |
topic | Original Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6570708/ https://www.ncbi.nlm.nih.gov/pubmed/30989504 http://dx.doi.org/10.1007/s11548-019-01972-8 |
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