Publications
2019 |
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 | Donat, Heiko; Lilge, Sven; Steil, Jochen; Burgner-Kahrs, Jessica Towards Learning Force Sensing for a Concentric Tube Continuum Robot Inproceedings Workshop on Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems, IEEE International Conference on Robotics and Automation, 2019. BibTeX | Tags: concentric tube continuum robot, machine learning @inproceedings{Donat2019, title = {Towards Learning Force Sensing for a Concentric Tube Continuum Robot}, author = {Heiko Donat and Sven Lilge and Jochen Steil and Jessica Burgner-Kahrs}, year = {2019}, date = {2019-05-20}, booktitle = {Workshop on Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems, IEEE International Conference on Robotics and Automation}, keywords = {concentric tube continuum robot, machine learning}, pubstate = {published}, tppubtype = {inproceedings} } |
 | Black, David; Lilge, Sven; Fellmann, Carolin; Reinschluessel, Anke V; Kreuer, Lars; Nabavi, Arya; Hahn, Horst K; Kikinis, Ron; Burgner-Kahrs, Jessica Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot Journal Article Journal of Medical Robotics Research, 4 (2), pp. 1950004, 2019. Abstract | Links | BibTeX | Tags: concentric tube continuum robot, hri, teleoperation @article{Black2019, title = {Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot}, author = {David Black and Sven Lilge and Carolin Fellmann and Anke V Reinschluessel and Lars Kreuer and Arya Nabavi and Horst K Hahn and Ron Kikinis and Jessica Burgner-Kahrs}, doi = {10.1142/S2424905X19500041}, year = {2019}, date = {2019-05-16}, journal = {Journal of Medical Robotics Research}, volume = {4}, number = {2}, pages = {1950004}, abstract = {Tubular continuum robots can follow complex curvilinear paths to reach restricted areas within the body. Using teleoperation, these robots can help minimize incisions and reduce trauma. However, drawbacks include the lack of haptic feedback and a limited view of the situs, often due to camera occlusion. This work presents novel auditory display to enhance interaction with such continuum robots to increase accuracy and path-following efficiency and reduce cognitive workload. We recreate a typical use case with a test environment that simulates a transnasal intervention through the sphenoidal sinus including a simulated continuum robot. Distance information is mapped to changes in a real-time audio synthesizer using sung voice to provide navigation cues. User studies with novice participants and clinicians were performed to evaluate the effects of auditory display on accuracy, task time, path following efficiency, subjective workload, and usability. When using auditory display, participants exhibit significant increase in accuracy, efficiency, and task time compared to visual-only display. Auditory display reduced subjective workload and raised usefulness and satisfaction ratings. The addition of auditory display for augmenting interaction with a teleoperated continuum robot has shown to benefit performance as well as usability. The method could benefit other scenarios in navigated surgery to increase accuracy and reduce workload.}, keywords = {concentric tube continuum robot, hri, teleoperation}, pubstate = {published}, tppubtype = {article} } Tubular continuum robots can follow complex curvilinear paths to reach restricted areas within the body. Using teleoperation, these robots can help minimize incisions and reduce trauma. However, drawbacks include the lack of haptic feedback and a limited view of the situs, often due to camera occlusion. This work presents novel auditory display to enhance interaction with such continuum robots to increase accuracy and path-following efficiency and reduce cognitive workload. We recreate a typical use case with a test environment that simulates a transnasal intervention through the sphenoidal sinus including a simulated continuum robot. Distance information is mapped to changes in a real-time audio synthesizer using sung voice to provide navigation cues. User studies with novice participants and clinicians were performed to evaluate the effects of auditory display on accuracy, task time, path following efficiency, subjective workload, and usability. When using auditory display, participants exhibit significant increase in accuracy, efficiency, and task time compared to visual-only display. Auditory display reduced subjective workload and raised usefulness and satisfaction ratings. The addition of auditory display for augmenting interaction with a teleoperated continuum robot has shown to benefit performance as well as usability. The method could benefit other scenarios in navigated surgery to increase accuracy and reduce workload. |
 | Granna, Josephine; Nabavi, Arya; Burgner-Kahrs, Jessica Computer-assisted planning for a concentric tube robotic system in neurosurgery Journal Article International Journal of Computer Assisted Radiology and Surgery, 14 (2), pp. 335–344, 2019. Abstract | Links | BibTeX | Tags: computational design, concentric tube continuum robot, minimally-invasive surgery, planning, Surgery @article{Granna2018, title = {Computer-assisted planning for a concentric tube robotic system in neurosurgery}, author = {Josephine Granna and Arya Nabavi and Jessica Burgner-Kahrs}, doi = {10.1007/s11548-018-1890-8}, year = {2019}, date = {2019-02-14}, journal = {International Journal of Computer Assisted Radiology and Surgery}, volume = {14}, number = {2}, pages = {335--344}, abstract = {Purpose: Laser-induced thermotherapy in the brain is a minimally invasive procedure to denature tumor tissue. However, irregularly shaped brain tumors cannot be treated using existing commercial systems. Thus, we present a new concept for laser-induced thermotherapy using a concentric tube robotic system. The planning procedure is complex and consists of the optimal distribution of thermal laser ablations within a volume as well as design and configuration parameter optimization of the concentric tube robot. Methods: We propose a novel computer-assisted planning procedure that decomposes the problem into task- and robot-specific planning and uses a multi-objective particle swarm optimization algorithm with variable length. Results: The algorithm determines a Pareto-front of optimal ablation distributions for three patient datasets. It considers multiple objectives and determines optimal robot parameters for multiple trajectories to access the tumor volume. Conclusions: We prove the effectiveness of our planning procedure to enable the treatment of irregularly shaped brain tumors. Multiple trajectories further increase the applicability of the procedure.}, keywords = {computational design, concentric tube continuum robot, minimally-invasive surgery, planning, Surgery}, pubstate = {published}, tppubtype = {article} } Purpose: Laser-induced thermotherapy in the brain is a minimally invasive procedure to denature tumor tissue. However, irregularly shaped brain tumors cannot be treated using existing commercial systems. Thus, we present a new concept for laser-induced thermotherapy using a concentric tube robotic system. The planning procedure is complex and consists of the optimal distribution of thermal laser ablations within a volume as well as design and configuration parameter optimization of the concentric tube robot. Methods: We propose a novel computer-assisted planning procedure that decomposes the problem into task- and robot-specific planning and uses a multi-objective particle swarm optimization algorithm with variable length. Results: The algorithm determines a Pareto-front of optimal ablation distributions for three patient datasets. It considers multiple objectives and determines optimal robot parameters for multiple trajectories to access the tumor volume. Conclusions: We prove the effectiveness of our planning procedure to enable the treatment of irregularly shaped brain tumors. Multiple trajectories further increase the applicability of the procedure. |
 | Chikhaoui, Mohamed Taha; Lilge, Sven; Kleinschmidt, Simon; Burgner-Kahrs, Jessica Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot with Three Extensible Segments Journal Article IEEE Robotics & Automation Letters, 4 (2), pp. 989 - 996, 2019. Abstract | Links | BibTeX | Tags: continuum robot, extensible, modeling, tendon actuated @article{Chikhaoui2019, title = {Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot with Three Extensible Segments}, author = {Mohamed Taha Chikhaoui and Sven Lilge and Simon Kleinschmidt and Jessica Burgner-Kahrs}, doi = {10.1109/LRA.2019.2893610}, year = {2019}, date = {2019-01-17}, journal = {IEEE Robotics & Automation Letters}, volume = {4}, number = {2}, pages = {989 - 996}, abstract = {Continuum robots actuated by tendons are a widely researched robot design offering high dexterity and large workspaces relative to their volume. Their flexible and compliant structure can be easily miniaturized, making them predestined for applications in difficult-to-reach and confined spaces. Adaption of this specific robot design includes extensible segments leading to an even higher manipulability and enabling so-called follow-the-leader motions of the manipulator. In this letter, kinematic modeling for a tendon actuated continuum robot with three extensible segments is investigated. The focus is drawn on the comparison of two of the most widely used modeling approaches both for freespace and loaded configurations. Through extensive experimental validation, the modeling performances are assessed qualitatively and quantitatively in terms of the shape deviation, Euclidean error at segment ends, and computation time. While Cosserat rod modeling is slightly more accurate than beam mechanics modeling, the latter presents significantly lower computation time.}, keywords = {continuum robot, extensible, modeling, tendon actuated}, pubstate = {published}, tppubtype = {article} } Continuum robots actuated by tendons are a widely researched robot design offering high dexterity and large workspaces relative to their volume. Their flexible and compliant structure can be easily miniaturized, making them predestined for applications in difficult-to-reach and confined spaces. Adaption of this specific robot design includes extensible segments leading to an even higher manipulability and enabling so-called follow-the-leader motions of the manipulator. In this letter, kinematic modeling for a tendon actuated continuum robot with three extensible segments is investigated. The focus is drawn on the comparison of two of the most widely used modeling approaches both for freespace and loaded configurations. Through extensive experimental validation, the modeling performances are assessed qualitatively and quantitatively in terms of the shape deviation, Euclidean error at segment ends, and computation time. While Cosserat rod modeling is slightly more accurate than beam mechanics modeling, the latter presents significantly lower computation time. |
2018 |
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Nguyen, Thien-Dang; Amanov, E; Burgner-Kahrs, J Schaftmechanismus Patent DE 10 2018 130 074.3, 2018. BibTeX | Tags: @patent{Patent_Schaft, title = {Schaftmechanismus}, author = {Thien-Dang Nguyen and E Amanov and J Burgner-Kahrs}, year = {2018}, date = {2018-11-28}, number = {DE 10 2018 130 074.3}, keywords = {}, pubstate = {published}, tppubtype = {patent} } | |
 | Grassmann, Reinhard; Modes, Vincent; Burgner-Kahrs, Jessica Learning the Forward and Inverse Kinematics of a 6-DOF Concentric-Tube Continuum Robot in SE(3) Inproceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5125-5132, 2018. Abstract | Links | BibTeX | Tags: concentric tube continuum robot, machine learning, modeling @inproceedings{Grassmann2018, title = {Learning the Forward and Inverse Kinematics of a 6-DOF Concentric-Tube Continuum Robot in SE(3)}, author = {Reinhard Grassmann and Vincent Modes and Jessica Burgner-Kahrs}, doi = {10.1109/IROS.2018.8594451}, year = {2018}, date = {2018-10-18}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems}, pages = {5125-5132}, abstract = {Recent physics-based models of concentric tube continuum robots are able to describe pose of the tip, given the preformed translation and rotation in joint space of the robot. However, such model-based approaches are associated with high computational load and highly non-linear modeling effort. A data-driven approach for computationally fast estimation of the kinematics without requiring the knowledge and the uncertainties in the physics-based model would be an asset. This paper introduces an approach to solve the forward kinematics as well as the inverse kinematics of concentric tube continuum robots with 6-DOF in three dimensional space SE(3). Two artificial neural networks with ReLU (rectified linear unit) activation functions are designed in order to approximate the respective kinematics. Measured data from a robot prototype are used in order to train, validate, and test the proposed approach. We introduce a representation of the rotatory joints by trigonometric functions that improves the accuracy of the approximation. The results with experimental measurements show higher accuracy for the forward kinematics compared to the state of the art mechanics modeling. The tip error is less then 2.3 mm w.r.t. position (1 % of total robot length) and 1.1° w.r.t. orientation. The single artificial neural network for the inverse kinematics approximation achieves a translation and rotation actuator error of 4.0 mm and 8.3°, respectively.}, keywords = {concentric tube continuum robot, machine learning, modeling}, pubstate = {published}, tppubtype = {inproceedings} } Recent physics-based models of concentric tube continuum robots are able to describe pose of the tip, given the preformed translation and rotation in joint space of the robot. However, such model-based approaches are associated with high computational load and highly non-linear modeling effort. A data-driven approach for computationally fast estimation of the kinematics without requiring the knowledge and the uncertainties in the physics-based model would be an asset. This paper introduces an approach to solve the forward kinematics as well as the inverse kinematics of concentric tube continuum robots with 6-DOF in three dimensional space SE(3). Two artificial neural networks with ReLU (rectified linear unit) activation functions are designed in order to approximate the respective kinematics. Measured data from a robot prototype are used in order to train, validate, and test the proposed approach. We introduce a representation of the rotatory joints by trigonometric functions that improves the accuracy of the approximation. The results with experimental measurements show higher accuracy for the forward kinematics compared to the state of the art mechanics modeling. The tip error is less then 2.3 mm w.r.t. position (1 % of total robot length) and 1.1° w.r.t. orientation. The single artificial neural network for the inverse kinematics approximation achieves a translation and rotation actuator error of 4.0 mm and 8.3°, respectively. |
 | Lilge, Sven; Black, David; Nabavi, Arya; Burgner-Kahrs, Jessica Comparison of Haptic and Auditory Feedback Methods for the Teleoperation of Concentric Tube Continuum Robots Inproceedings Annual Meeting of the German Society for Computer- and Robot-assisted Surgery, pp. 74–79, 2018. Abstract | BibTeX | Tags: concentric tube continuum robot, hri, teleoperation @inproceedings{Lilge2018, title = {Comparison of Haptic and Auditory Feedback Methods for the Teleoperation of Concentric Tube Continuum Robots}, author = {Sven Lilge and David Black and Arya Nabavi and Jessica Burgner-Kahrs}, year = {2018}, date = {2018-10-01}, booktitle = {Annual Meeting of the German Society for Computer- and Robot-assisted Surgery}, pages = {74--79}, abstract = {Due to their high dexterity and good miniturizability, concentric tube continuum robots are well suited for minimally invasive surgeries. In such scenarios, the manipulator is often directly teleoperated by a surgeon, while the feedback is limited to a camera feed from an endoscope which is guided to follow the robot’s movements. To further assist the operating surgeon, additional feedback for the teleoperation in medical scenarios is investigated. This work focuses on the comparison of haptic and auditory feedback, generated using the method of virtual fixtures, for the teleoperation of concentric tube continuum robots. For evaluation, a user study using a simulated medical application is conducted. Results show an increase in satisfaction and usability scores, as well as a decrease in task load and execution time when applying haptic feedback. The use of auditory feedback does not show quantitative benefits and received diverse ratings from the participants.}, keywords = {concentric tube continuum robot, hri, teleoperation}, pubstate = {published}, tppubtype = {inproceedings} } Due to their high dexterity and good miniturizability, concentric tube continuum robots are well suited for minimally invasive surgeries. In such scenarios, the manipulator is often directly teleoperated by a surgeon, while the feedback is limited to a camera feed from an endoscope which is guided to follow the robot’s movements. To further assist the operating surgeon, additional feedback for the teleoperation in medical scenarios is investigated. This work focuses on the comparison of haptic and auditory feedback, generated using the method of virtual fixtures, for the teleoperation of concentric tube continuum robots. For evaluation, a user study using a simulated medical application is conducted. Results show an increase in satisfaction and usability scores, as well as a decrease in task load and execution time when applying haptic feedback. The use of auditory feedback does not show quantitative benefits and received diverse ratings from the participants. |
 | van Roosbroeck, J; Modes, V; Lindner, E; van Hoe, B; Voigtlander, C; Vlekken, J; Burgner-Kahrs, J Curvature and Shape Sensing for Continuum Robotics using Draw Tower Gratings in Multi Core Fiber Inproceedings 26th International Conference on Optical Fiber Sensors (OFS), 2018. Abstract | Links | BibTeX | Tags: concentric tube continuum robot, fbg, sensing @inproceedings{VanRoosbroeck2018, title = {Curvature and Shape Sensing for Continuum Robotics using Draw Tower Gratings in Multi Core Fiber}, author = {J van Roosbroeck and V Modes and E Lindner and B van Hoe and C Voigtlander and J Vlekken and J Burgner-Kahrs}, doi = {10.1364/OFS.2018.ThE70}, year = {2018}, date = {2018-09-28}, booktitle = {26th International Conference on Optical Fiber Sensors (OFS)}, abstract = {Dense arrays of Draw Tower Gratings (DTG®s) have been produced in 7 core multicore fiber. They are measured with a standard spectrometer based readout system using Wavelength Division Multiplexing. We demonstrate that these sensor arrays can be used for curvature and shape sensing in continuum robotics and the accuracy for the measurement of both parameters will be presented.}, keywords = {concentric tube continuum robot, fbg, sensing}, pubstate = {published}, tppubtype = {inproceedings} } Dense arrays of Draw Tower Gratings (DTG®s) have been produced in 7 core multicore fiber. They are measured with a standard spectrometer based readout system using Wavelength Division Multiplexing. We demonstrate that these sensor arrays can be used for curvature and shape sensing in continuum robotics and the accuracy for the measurement of both parameters will be presented. |
| Kudryavtsev, Andrey V; Chikhaoui, Mohamed Taha; Liadov, Aleksandr; Rougeot, Patrick; Spindler, Fabien; Rabenorosoa, Kanty; Burgner-Kahrs, Jessica; Tamadazte, Brahim; Andreff, Nicolas Eye-in-Hand Visual Servoing of Concentric Tube Robots Journal Article IEEE Robotics & Automation Letters, 3 (3), pp. 2315-2321, 2018. Abstract | Links | BibTeX | Tags: concentric tube continuum robot, control, visual servoing @article{Kudryavtsev2018, title = {Eye-in-Hand Visual Servoing of Concentric Tube Robots}, author = {Andrey V Kudryavtsev and Mohamed Taha Chikhaoui and Aleksandr Liadov and Patrick Rougeot and Fabien Spindler and Kanty Rabenorosoa and Jessica Burgner-Kahrs and Brahim Tamadazte and Nicolas Andreff}, doi = {10.1109/LRA.2018.2807592}, year = {2018}, date = {2018-07-01}, journal = {IEEE Robotics & Automation Letters}, volume = {3}, number = {3}, pages = {2315-2321}, abstract = {This letter deals with the development of a vision-based controller for a continuum robot architecture. More precisely, the controlled robotic structure is based on three-tube concentric tube robot (CTR), an emerging paradigm to design accurate, miniaturized, and flexible endoscopic robots. This approach has grown considerably in the recent years finding applications in numerous surgical disciplines. In contrast to conventional robotic structures, CTR kinematics arise many challenges for an optimal control, such as friction, torsion, shear, and nonlinear constitutive behavior. In fact, in order to ensure efficient and reliable control, in addition to computing an analytical and complete kinematic model, it is also important to close the control loop. To do this, we developed an eye-in-hand visual servoing scheme using a millimeter-sized camera embedded at the robot's tip. Both the kinematic model and the visual servoing controller were successfully validated in simulation with visual servoing platform and using an experimental setup. The obtained results showed satisfactory performances for three-degrees of freedom positioning and path following tasks with adaptive gain control.}, keywords = {concentric tube continuum robot, control, visual servoing}, pubstate = {published}, tppubtype = {article} } This letter deals with the development of a vision-based controller for a continuum robot architecture. More precisely, the controlled robotic structure is based on three-tube concentric tube robot (CTR), an emerging paradigm to design accurate, miniaturized, and flexible endoscopic robots. This approach has grown considerably in the recent years finding applications in numerous surgical disciplines. In contrast to conventional robotic structures, CTR kinematics arise many challenges for an optimal control, such as friction, torsion, shear, and nonlinear constitutive behavior. In fact, in order to ensure efficient and reliable control, in addition to computing an analytical and complete kinematic model, it is also important to close the control loop. To do this, we developed an eye-in-hand visual servoing scheme using a millimeter-sized camera embedded at the robot's tip. Both the kinematic model and the visual servoing controller were successfully validated in simulation with visual servoing platform and using an experimental setup. The obtained results showed satisfactory performances for three-degrees of freedom positioning and path following tasks with adaptive gain control. |
 | Friedrich, D T; Modes, V; Hoffmann, T K; Greve, J; Schuler, P J; Burgner-Kahrs, J Teleoperated Tubular Continuum Robots for Transoral Surgery - Feasibility in a Porcine Larynx Model Journal Article International Journal of Medical Robotics and Computer Assisted Surgery, 14 (5), pp. e1928 (7pages), 2018. Abstract | Links | BibTeX | Tags: concentric tube continuum robot, hri, minimally-invasive surgery, Surgery, teleoperation @article{Friedrich2018, title = {Teleoperated Tubular Continuum Robots for Transoral Surgery - Feasibility in a Porcine Larynx Model}, author = {D T Friedrich and V Modes and T K Hoffmann and J Greve and P J Schuler and J Burgner-Kahrs}, doi = {10.1002/rcs.1928}, year = {2018}, date = {2018-06-28}, journal = {International Journal of Medical Robotics and Computer Assisted Surgery}, volume = {14}, number = {5}, pages = {e1928 (7pages)}, abstract = {Background Evidence suggests that transoral robot‐assisted surgery is becoming increasingly common, yet current systems are incapable of sufficiently reaching the glottis or subglottic areas. This paper presents a teleoperated tubular continuum robot prototype for laryngeal surgery in a feasibility study. Methods A tubular continuum robot prototype is used to perform basic surgical examination in five ex vivo porcine laryngeal specimens. Standard imaging and tooling were integrated and evaluated to improve the system for future application in humans. Results Access to and application of the tubular continuum robot in the porcine larynx is feasible. Visualization of and accessibility to all structures of interest were successfully achieved, and minor surgical procedures such as biopsies could be performed. Conclusions Despite proven feasibility, there is a need for further improvements. A version with dual robot arms would be essential to realize a pre‐market prototype for further investigation in a human model.}, keywords = {concentric tube continuum robot, hri, minimally-invasive surgery, Surgery, teleoperation}, pubstate = {published}, tppubtype = {article} } Background Evidence suggests that transoral robot‐assisted surgery is becoming increasingly common, yet current systems are incapable of sufficiently reaching the glottis or subglottic areas. This paper presents a teleoperated tubular continuum robot prototype for laryngeal surgery in a feasibility study. Methods A tubular continuum robot prototype is used to perform basic surgical examination in five ex vivo porcine laryngeal specimens. Standard imaging and tooling were integrated and evaluated to improve the system for future application in humans. Results Access to and application of the tubular continuum robot in the porcine larynx is feasible. Visualization of and accessibility to all structures of interest were successfully achieved, and minor surgical procedures such as biopsies could be performed. Conclusions Despite proven feasibility, there is a need for further improvements. A version with dual robot arms would be essential to realize a pre‐market prototype for further investigation in a human model. |
 | Chikhaoui, Mohamed Taha; Burgner-Kahrs, Jessica Control of Continuum Robots for Medical Applications: State of the Art Inproceedings International Conference and Exhibition on New Actuators and Drive Systems, pp. 154-164, VDE VERLAG GMBH, 2018. Links | BibTeX | Tags: continuum robot, control, minimally-invasive surgery, Surgery @inproceedings{Chikhaoui2018a, title = {Control of Continuum Robots for Medical Applications: State of the Art}, author = {Mohamed Taha Chikhaoui and Jessica Burgner-Kahrs}, url = {https://ieeexplore.ieee.org/document/8470787}, year = {2018}, date = {2018-06-25}, booktitle = {International Conference and Exhibition on New Actuators and Drive Systems}, pages = {154-164}, publisher = {VDE VERLAG GMBH}, keywords = {continuum robot, control, minimally-invasive surgery, Surgery}, pubstate = {published}, tppubtype = {inproceedings} } |
 | Langer, Marlene; Amanov, Ernar; Burgner-Kahrs, Jessica Stiffening Sheaths for Continuum Robots Journal Article Soft Robotics, 5 (3), pp. 291-303, 2018. Abstract | Links | BibTeX | Tags: continuum robot, design, granular jamming, layer jamming, soft robot, stiffening @article{Langer2018, title = {Stiffening Sheaths for Continuum Robots}, author = {Marlene Langer and Ernar Amanov and Jessica Burgner-Kahrs}, doi = {10.1089/soro.2017.0060}, year = {2018}, date = {2018-06-01}, journal = {Soft Robotics}, volume = {5}, number = {3}, pages = {291-303}, abstract = {Added to their high dexterity and ability to conform to complex shapes, continuum robots can be further improved to provide safer interaction with their environment. Indeed, controlling their stiffness is one of the most challenging yet promising research topics. We propose a tubular stiffening sheath as a replaceable cover for small-diameter continuum robots to temporarily increase the stiffness in a certain configuration. In this article, we assess and compare performances of two different stiffening modalities: granular and layer jamming, provide arguments for material selection and experimental results for stiffness with respect to lateral and axial applied forces. Furthermore, we detected empirically additional effects relating sheath stiffness to material parameters and added to recent investigations in the state of the art, which are based exclusively on material roughness. Finally, we integrated the selected layer jamming material in a miniaturized sheath (13 mm outer diameter, 2.5 mm wall thickness) and covered a tendon-actuated continuum robot with it. Experimental characterization of the behavior with respect to applied external forces was performed via stiffness measurements and proved that the initial tendon-actuated continuum robot stiffness can be improved by a factor up to 24.}, keywords = {continuum robot, design, granular jamming, layer jamming, soft robot, stiffening}, pubstate = {published}, tppubtype = {article} } Added to their high dexterity and ability to conform to complex shapes, continuum robots can be further improved to provide safer interaction with their environment. Indeed, controlling their stiffness is one of the most challenging yet promising research topics. We propose a tubular stiffening sheath as a replaceable cover for small-diameter continuum robots to temporarily increase the stiffness in a certain configuration. In this article, we assess and compare performances of two different stiffening modalities: granular and layer jamming, provide arguments for material selection and experimental results for stiffness with respect to lateral and axial applied forces. Furthermore, we detected empirically additional effects relating sheath stiffness to material parameters and added to recent investigations in the state of the art, which are based exclusively on material roughness. Finally, we integrated the selected layer jamming material in a miniaturized sheath (13 mm outer diameter, 2.5 mm wall thickness) and covered a tendon-actuated continuum robot with it. Experimental characterization of the behavior with respect to applied external forces was performed via stiffness measurements and proved that the initial tendon-actuated continuum robot stiffness can be improved by a factor up to 24. |
 | Modes, Vincent; Ihler, Sontje; Nabavi, Arya; Ortmaier, Tobias; Kahrs, Lüder A; Burgner-Kahrs, Jessica Towards Concentric Tube Robots for Microsurgery: First Results in Eye-to-hand Visual Servoing Inproceedings The Hamlyn Symposium on Medical Robotics, pp. 77–78, 2018. BibTeX | Tags: Accuracy, concentric tube continuum robot, minimally-invasive surgery, visual servoing @inproceedings{Modes2018, title = {Towards Concentric Tube Robots for Microsurgery: First Results in Eye-to-hand Visual Servoing}, author = {Vincent Modes and Sontje Ihler and Arya Nabavi and Tobias Ortmaier and Lüder A Kahrs and Jessica Burgner-Kahrs}, year = {2018}, date = {2018-06-01}, booktitle = {The Hamlyn Symposium on Medical Robotics}, pages = {77--78}, keywords = {Accuracy, concentric tube continuum robot, minimally-invasive surgery, visual servoing}, pubstate = {published}, tppubtype = {inproceedings} } |
 | Amanov, Ernar; Nguyen, Thien-Dang; Markmann, Steffen; Imkamp, Florian; Burgner-Kahrs, Jessica Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy Journal Article Annals of Biomedical Engineering, 46 (10), pp. 1498-1510, 2018. Abstract | Links | BibTeX | Tags: continuum robot, design, layer jamming, minimally-invasive surgery, soft robot, tendon actuated, tendon-driven continuum robots @article{Amanov2018, title = {Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy}, author = {Ernar Amanov and Thien-Dang Nguyen and Steffen Markmann and Florian Imkamp and Jessica Burgner-Kahrs}, doi = {10.1007/s10439-018-2060-4}, year = {2018}, date = {2018-05-31}, journal = {Annals of Biomedical Engineering}, volume = {46}, number = {10}, pages = {1498-1510}, abstract = {Laparoscopic partial nephrectomy for localized renal tumors is an upcoming standard minimally invasive surgical procedure. However, a single-site laparoscopic approach would be even more preferable in terms of invasiveness. While the manual approach offers rigid curved tools, robotic single-site systems provide high degrees of freedom manipulators. However, they either provide only a straight deployment port, lack of instrument integration, or cannot be reconfigured. Therefore, the current main shortcomings of single-site surgery approaches include limited tool dexterity, visualization, and intuitive use by the surgeons. For partial nephrectomy in particular, the accessibility of the tumors remains limited and requires invasive kidney mobilization (separation of the kidney from the surrounding tissue), resulting in patient stress and prolonged surgery. We address these limitations by introducing a flexible, robotic, variable stiffness port with several working channels, which consists of a two-segment tendon-driven continuum robot with integrated granular and layer jamming for stabilizing the pose and shape. We investigate biocompatible granules for granular jamming and demonstrate the stiffening capabilities in terms of pose and shape accuracy with experimental evaluations. Additionally, we conduct in vitro experiments on a phantom and prove that the visualization of tumors at various sites is increased up to 38% in comparison to straight endoscopes.}, keywords = {continuum robot, design, layer jamming, minimally-invasive surgery, soft robot, tendon actuated, tendon-driven continuum robots}, pubstate = {published}, tppubtype = {article} } Laparoscopic partial nephrectomy for localized renal tumors is an upcoming standard minimally invasive surgical procedure. However, a single-site laparoscopic approach would be even more preferable in terms of invasiveness. While the manual approach offers rigid curved tools, robotic single-site systems provide high degrees of freedom manipulators. However, they either provide only a straight deployment port, lack of instrument integration, or cannot be reconfigured. Therefore, the current main shortcomings of single-site surgery approaches include limited tool dexterity, visualization, and intuitive use by the surgeons. For partial nephrectomy in particular, the accessibility of the tumors remains limited and requires invasive kidney mobilization (separation of the kidney from the surrounding tissue), resulting in patient stress and prolonged surgery. We address these limitations by introducing a flexible, robotic, variable stiffness port with several working channels, which consists of a two-segment tendon-driven continuum robot with integrated granular and layer jamming for stabilizing the pose and shape. We investigate biocompatible granules for granular jamming and demonstrate the stiffening capabilities in terms of pose and shape accuracy with experimental evaluations. Additionally, we conduct in vitro experiments on a phantom and prove that the visualization of tumors at various sites is increased up to 38% in comparison to straight endoscopes. |
 | Chikhaoui, Mohamed Taha; Granna, Josephine; Starke, Julia; Burgner-Kahrs, Jessica Towards Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots Journal Article IEEE Robotics & Automation Letters, 3 (3), pp. 1793-1800, 2018. Abstract | Links | BibTeX | Tags: concentric tube continuum robot, control, teleoperation @article{Chikhaoui2018b, title = {Towards Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots}, author = {Mohamed Taha Chikhaoui and Josephine Granna and Julia Starke and Jessica Burgner-Kahrs}, doi = {10.1109/LRA.2018.2800037}, year = {2018}, date = {2018-01-31}, journal = {IEEE Robotics & Automation Letters}, volume = {3}, number = {3}, pages = {1793-1800}, abstract = {Dual-arm continuum robots have been considered mainly for teleoperation, where human perception and cognition permitted coordination, and collision-free motions. This letter describes theoretical investigations on automation of dual-arm robots constituted of two concentric tube continuum manipulators. An optimization algorithm is developed in order to improve triangulation ability of the robot and thus enhance the arms' collaborative operation. This a priori knowledge provides design directives in order to fulfill integration, reachability, and collaboration requirements. Further, automatic control is assigned to perform online safe collaboration tasks. Our initial exploration is validated with numerical simulations using robot designs based on the optimization algorithm output. The control algorithm-based on the relative Jacobian and Cosserat rod modeling-performs simultaneously with less than 1% of the total robot's length of accuracy for both relative end-effector distance control and trajectory tracking.}, keywords = {concentric tube continuum robot, control, teleoperation}, pubstate = {published}, tppubtype = {article} } Dual-arm continuum robots have been considered mainly for teleoperation, where human perception and cognition permitted coordination, and collision-free motions. This letter describes theoretical investigations on automation of dual-arm robots constituted of two concentric tube continuum manipulators. An optimization algorithm is developed in order to improve triangulation ability of the robot and thus enhance the arms' collaborative operation. This a priori knowledge provides design directives in order to fulfill integration, reachability, and collaboration requirements. Further, automatic control is assigned to perform online safe collaboration tasks. Our initial exploration is validated with numerical simulations using robot designs based on the optimization algorithm output. The control algorithm-based on the relative Jacobian and Cosserat rod modeling-performs simultaneously with less than 1% of the total robot's length of accuracy for both relative end-effector distance control and trajectory tracking. |
Imkamp, Florian; Amanov, Ernar; Nguyen, Thien-Dang; Hielscher, V; Burgner-Kahrs, Jessica Die systematische Ermittlung des chirurgischen Arbeitsraumes im Rahmen laparoskopischer Niereneingriffe: Grundlage für die Konzeptionierung eines versteifbaren Endoportsystems für die Single-Port Laparoskopie Inproceedings 12. Nordkongress Urologie, 2018. BibTeX | Tags: @inproceedings{Imkamp2018, title = {Die systematische Ermittlung des chirurgischen Arbeitsraumes im Rahmen laparoskopischer Niereneingriffe: Grundlage für die Konzeptionierung eines versteifbaren Endoportsystems für die Single-Port Laparoskopie}, author = {Florian Imkamp and Ernar Amanov and Thien-Dang Nguyen and V Hielscher and Jessica Burgner-Kahrs}, year = {2018}, date = {2018-01-01}, booktitle = {12. Nordkongress Urologie}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } | |
2017 |
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 | Starke, Julia; Amanov, Ernar; Chikhaoui, Mohamed Taha; Burgner-Kahrs, Jessica On the Merits of Helical Tendon Routing in Continuum Robots Inproceedings IEEE International Conference on Robotics and Automation, pp. 6470–6476, 2017. Abstract | Links | BibTeX | Tags: continuum robot, design, tendon actuated, tendon-driven continuum robots @inproceedings{Starke2017, title = {On the Merits of Helical Tendon Routing in Continuum Robots}, author = {Julia Starke and Ernar Amanov and Mohamed Taha Chikhaoui and Jessica Burgner-Kahrs}, doi = {10.1109/IROS.2017.8206554}, year = {2017}, date = {2017-12-14}, booktitle = {IEEE International Conference on Robotics and Automation}, pages = {6470--6476}, abstract = {Tendon-driven continuum robots possess versatile application capabilities and have a robust design. The actuation of such robots with non-straight tendons that wrap around the backbone, described by a variable function, offers a lot of untapped potentials. While it has been shown that these continuum robots are able to take up complex shapes using only one actuated segment, the merits of non-straight tendon routing have not been quantified in terms of workspace and motion. In this paper, we show that one additional helically routed tendon can greatly benefit the robot's reachable workspace. For instance, the reachable workspace of a one-segment robot with 3 conventional straight tendons increases by 400 % by adding one helically routed tendon. Furthermore, the dexterity of such a continuum robot is improved, i.e. motion sequences to avoid obstacles or to twine an object for grasping. For the first time, the potential of tendon-driven continuum robots with two segments and helically routed tendons is investigated. The general findings on the merits of helical tendon routing are supported with both simulation and experimental results.}, keywords = {continuum robot, design, tendon actuated, tendon-driven continuum robots}, pubstate = {published}, tppubtype = {inproceedings} } Tendon-driven continuum robots possess versatile application capabilities and have a robust design. The actuation of such robots with non-straight tendons that wrap around the backbone, described by a variable function, offers a lot of untapped potentials. While it has been shown that these continuum robots are able to take up complex shapes using only one actuated segment, the merits of non-straight tendon routing have not been quantified in terms of workspace and motion. In this paper, we show that one additional helically routed tendon can greatly benefit the robot's reachable workspace. For instance, the reachable workspace of a one-segment robot with 3 conventional straight tendons increases by 400 % by adding one helically routed tendon. Furthermore, the dexterity of such a continuum robot is improved, i.e. motion sequences to avoid obstacles or to twine an object for grasping. For the first time, the potential of tendon-driven continuum robots with two segments and helically routed tendons is investigated. The general findings on the merits of helical tendon routing are supported with both simulation and experimental results. |
Amanov, E; Granna, J; Burgner-Kahrs, J Toward Improving Path Following Motion: Hybrid Continuum Robot Design Inproceedings IEEE International Conference on Robotics and Automation, pp. 4666-4672, 2017. Links | BibTeX | Tags: continuum robot, design, extensible, follow-the-leader, tendon actuated @inproceedings{Amanov2017a, title = {Toward Improving Path Following Motion: Hybrid Continuum Robot Design}, author = {E Amanov and J Granna and J Burgner-Kahrs}, doi = {10.1109/ICRA.2017.7989542}, year = {2017}, date = {2017-06-01}, booktitle = {IEEE International Conference on Robotics and Automation}, pages = {4666-4672}, keywords = {continuum robot, design, extensible, follow-the-leader, tendon actuated}, pubstate = {published}, tppubtype = {inproceedings} } | |
Modes, V; Nguyen, Thien-Dang; Burgner-Kahrs, J Towards Handheld Continuum Robots Inproceedings DGR Days (German Society of Robotics), pp. 20, 2017. BibTeX | Tags: continuum robot, design @inproceedings{Modes2017, title = {Towards Handheld Continuum Robots}, author = {V Modes and Thien-Dang Nguyen and J Burgner-Kahrs}, year = {2017}, date = {2017-06-01}, booktitle = {DGR Days (German Society of Robotics)}, pages = {20}, keywords = {continuum robot, design}, pubstate = {published}, tppubtype = {inproceedings} } | |
Rau, T S; Granna, J; Burgner-Kahrs, J; Majdani, O Elektrodenanordnung eines Cochlea-Implantats, automatisierten Betätigungseinrichtung sowie Verwendung eines tubulären Manipulators Patent DE 10 2015 115 525, 2017. BibTeX | Tags: @patent{Patent_Cochlea_DE, title = {Elektrodenanordnung eines Cochlea-Implantats, automatisierten Betätigungseinrichtung sowie Verwendung eines tubulären Manipulators}, author = {T S Rau and J Granna and J Burgner-Kahrs and O Majdani}, year = {2017}, date = {2017-03-23}, number = {DE 10 2015 115 525}, location = {Germany}, keywords = {}, pubstate = {published}, tppubtype = {patent} } | |