Navigation of Concentric Tube Continuum Robots using Optimal Control

Siva Dhanakoti, John Maddocks, Martin Weiser

2022

Abstract

Recently developed Concentric Tube Continuum Robots (CTCRs) are widely exploited in, for example in minimally invasive surgeries which involve navigating inside narrow body cavities close to sensitive regions. These CTCRs can be controlled by extending and rotating the tubes one inside the other in order to reach a target point or perform some task. The robot must deviate as little as possible from this narrow space and avoid damaging neighbouring tissue. We consider open-loop optimal control of CTCRs parameterized over pseudo-time, primarily aiming at minimizing the robot’s working volume during its motion. External loads acting on the system like tip loads or contact with tissues are not considered here. We also discussed the inclusion of tip’s orientation in the optimal framework to perform some tasks. We recall a quaternion-based formulation of the robot configuration, discuss discretization, develop optimization objectives addressing different criteria, and investigate their impact on robot path planning for several numerical examples. This optimal control framework can be applied to any backbone based continuum robot.

Paper Citation

in Harvard Style

Dhanakoti S., Maddocks J. and Weiser M. (2022). Navigation of Concentric Tube Continuum Robots using Optimal Control. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 146-154. DOI: 10.5220/0011271000003271

in Bibtex Style

@conference{icinco22,
author={Siva Dhanakoti and John Maddocks and Martin Weiser},
title={Navigation of Concentric Tube Continuum Robots using Optimal Control},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2022},
pages={146-154},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011271000003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Navigation of Concentric Tube Continuum Robots using Optimal Control
SN - 978-989-758-585-2
AU - Dhanakoti S.
AU - Maddocks J.
AU - Weiser M.
PY - 2022
SP - 146
EP - 154
DO - 10.5220/0011271000003271