
Publications
2016 |
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Neumann, Maria; Burgner-Kahrs, Jessica Considerations for follow-the-leader motion of extensible tendon-driven continuum robots Inproceedings IEEE International Conference on Robotics and Automation, pp. 917–923, 2016, ISBN: 978-1-4673-8026-3. Abstract | Links | BibTeX | Tags: continuum robot, extensible, follow-the-leader, motion planning, tendon actuated, tendon-driven continuum robots @inproceedings{Neumann2016, title = {Considerations for follow-the-leader motion of extensible tendon-driven continuum robots}, author = {Maria Neumann and Jessica Burgner-Kahrs}, doi = {10.1109/ICRA.2016.7487223}, isbn = {978-1-4673-8026-3}, year = {2016}, date = {2016-06-09}, booktitle = {IEEE International Conference on Robotics and Automation}, pages = {917--923}, abstract = {Path following and follow-the-leader motion is particularly desirable for minimally-invasive surgery in confined spaces which can only be reached using tortuous paths, e.g. through natural orifices. While path following and followthe- leader motion can be achieved by hyper-redundant snake robots, their size is usually not applicable for medical applications. Continuum robots, such as tendon-driven or concentric tube mechanisms, fulfill the size requirements for minimally invasive surgery, but yet follow-the-leader motion is not inherently provided. In fact, parameters of the manipulator's section curvatures and translation have to be chosen wisely a priori. In this paper, we consider a tendon-driven continuum robot with extensible sections. After reformulating the forward kinematics model, we formulate prerequisites for follow-the-leader motion and present a general approach to determine a sequence of robot configurations to achieve follow-the-leader motion along a given 3D path. We evaluate our approach in a series of simulations with 3D paths composed of constant curvature arcs and general 3D paths described by B-spline curves. Our results show that mean path errors <0.4mm and mean tip errors <1.6mm can theoretically be achieved for constant curvature paths and <2mm and <3.1mm for general B-spline curves respectively.}, keywords = {continuum robot, extensible, follow-the-leader, motion planning, tendon actuated, tendon-driven continuum robots}, pubstate = {published}, tppubtype = {inproceedings} } Path following and follow-the-leader motion is particularly desirable for minimally-invasive surgery in confined spaces which can only be reached using tortuous paths, e.g. through natural orifices. While path following and followthe- leader motion can be achieved by hyper-redundant snake robots, their size is usually not applicable for medical applications. Continuum robots, such as tendon-driven or concentric tube mechanisms, fulfill the size requirements for minimally invasive surgery, but yet follow-the-leader motion is not inherently provided. In fact, parameters of the manipulator's section curvatures and translation have to be chosen wisely a priori. In this paper, we consider a tendon-driven continuum robot with extensible sections. After reformulating the forward kinematics model, we formulate prerequisites for follow-the-leader motion and present a general approach to determine a sequence of robot configurations to achieve follow-the-leader motion along a given 3D path. We evaluate our approach in a series of simulations with 3D paths composed of constant curvature arcs and general 3D paths described by B-spline curves. Our results show that mean path errors <0.4mm and mean tip errors <1.6mm can theoretically be achieved for constant curvature paths and <2mm and <3.1mm for general B-spline curves respectively. | |
Granna, Josephine; Vornehm, Yannick; Fellmann, Carolin; Burgner-Kahrs, Jessica Rapid Motion Planning for Intracerebral Hemorrhage Evacuation using a Tubular Aspiration Robot Inproceedings DGR Days (German Society of Robotics), 2016. BibTeX | Tags: concentric tube continuum robot, minimally-invasive surgery, motion planning @inproceedings{Granna2016c, title = {Rapid Motion Planning for Intracerebral Hemorrhage Evacuation using a Tubular Aspiration Robot}, author = {Josephine Granna and Yannick Vornehm and Carolin Fellmann and Jessica Burgner-Kahrs}, year = {2016}, date = {2016-06-01}, booktitle = {DGR Days (German Society of Robotics)}, keywords = {concentric tube continuum robot, minimally-invasive surgery, motion planning}, pubstate = {published}, tppubtype = {inproceedings} } | |
Granna, Josephine; Godage, Isuru S; Wirz, Raul; Weaver, Kyle D; Webster III, Robert J; Burgner-Kahrs, Jessica A 3-D Volume Coverage Path Planning Algorithm With Application to Intracerebral Hemorrhage Evacuation Journal Article IEEE Robotics and Automation Letters, 1 (2), pp. 876–883, 2016. Abstract | Links | BibTeX | Tags: concentric tube continuum robot, image-guided surgery, minimally-invasive surgery, motion planning @article{Granna2016b, title = {A 3-D Volume Coverage Path Planning Algorithm With Application to Intracerebral Hemorrhage Evacuation}, author = {Josephine Granna and Isuru S Godage and Raul Wirz and Kyle D Weaver and Robert J {Webster III} and Jessica Burgner-Kahrs}, doi = {10.1109/LRA.2016.2528297}, year = {2016}, date = {2016-02-11}, journal = {IEEE Robotics and Automation Letters}, volume = {1}, number = {2}, pages = {876--883}, abstract = {This letter presents a new heuristic 3-D volume coverage path planning (VCPP) algorithm for robotic intracerebral hemorrhage evacuation. In contrast to existing 3-D planning techniques, the proposed algorithm generates 3-D paths without first decomposing the volume into series of 2-D planning problems. It considers the morphology of the volume to be covered and minimizes the configuration or task space distance traveled. The algorithm merges elements from existing grid-based and wavefront approaches and accommodates kinematic and environmental constraints, as well as obstacle avoidance. We provide both simulation and experimental demonstrations of the algorithm in the context of intracerebral hemorrhage evacuation where a curved, needle-like robot must suction out blood from within the brain by covering the interior of a semicoagulated blood-filled volume with its tip. We perform a simulation study with 7 patient datasets and compare the distance traveled with our new algorithm using a conventional 2-D layer-by-layer planning approach. We also perform 3 in vitro evacuation experiments on phantoms made to match patient hemorrhage geometries. Our results illustrate that the VCPP algorithm economizes motion and is more efficient than a layer-by-layer CPP approach.}, keywords = {concentric tube continuum robot, image-guided surgery, minimally-invasive surgery, motion planning}, pubstate = {published}, tppubtype = {article} } This letter presents a new heuristic 3-D volume coverage path planning (VCPP) algorithm for robotic intracerebral hemorrhage evacuation. In contrast to existing 3-D planning techniques, the proposed algorithm generates 3-D paths without first decomposing the volume into series of 2-D planning problems. It considers the morphology of the volume to be covered and minimizes the configuration or task space distance traveled. The algorithm merges elements from existing grid-based and wavefront approaches and accommodates kinematic and environmental constraints, as well as obstacle avoidance. We provide both simulation and experimental demonstrations of the algorithm in the context of intracerebral hemorrhage evacuation where a curved, needle-like robot must suction out blood from within the brain by covering the interior of a semicoagulated blood-filled volume with its tip. We perform a simulation study with 7 patient datasets and compare the distance traveled with our new algorithm using a conventional 2-D layer-by-layer planning approach. We also perform 3 in vitro evacuation experiments on phantoms made to match patient hemorrhage geometries. Our results illustrate that the VCPP algorithm economizes motion and is more efficient than a layer-by-layer CPP approach. | |
2015 |
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![]() | Burgner-Kahrs, Jessica; Rucker, Caleb D; Choset, Howie Continuum Robots for Medical Applications - A Survey Journal Article IEEE Transactions on Robotics, 31 (6), pp. 1261-1280, 2015. Abstract | Links | BibTeX | Tags: computational design, continuum robot, control, design, minimally-invasive surgery, modeling, motion planning, survey, trajectory planning @article{Burgner-Kahrs2015a, title = {Continuum Robots for Medical Applications - A Survey}, author = {Jessica Burgner-Kahrs and Caleb D Rucker and Howie Choset}, doi = {10.1109/TRO.2015.2489500}, year = {2015}, date = {2015-11-02}, journal = {IEEE Transactions on Robotics}, volume = {31}, number = {6}, pages = {1261-1280}, abstract = {In this paper, we describe the state of the art in continuum robot manipulators and systems intended for application to interventional medicine. Inspired by biological trunks, tentacles, and snakes, continuum robot designs can traverse confined spaces, manipulate objects in complex environments, and conform to curvilinear paths in space. In addition, many designs offer inherent structural compliance and ease of miniaturization. After decades of pioneering research, a host of designs have now been investigated and have demonstrated capabilities beyond the scope of conventional rigid-link robots. Recently, we have seen increasing efforts aimed at leveraging these qualities to improve the frontiers of minimally invasive surgical interventions. Several concepts have now been commercialized, which are inspiring and enabling a current paradigm shift in surgical approaches toward flexible access routes, e.g., through natural orifices such as the nose. In this paper, we provide an overview of the current state of this field from the perspectives of both robotics science and medical applications. We discuss relevant research in design, modeling, control, and sensing for continuum manipulators, and we highlight how this work is being used to build robotic systems for specific surgical procedures. We provide perspective for the future by discussing current limitations, open questions, and challenges.}, keywords = {computational design, continuum robot, control, design, minimally-invasive surgery, modeling, motion planning, survey, trajectory planning}, pubstate = {published}, tppubtype = {article} } In this paper, we describe the state of the art in continuum robot manipulators and systems intended for application to interventional medicine. Inspired by biological trunks, tentacles, and snakes, continuum robot designs can traverse confined spaces, manipulate objects in complex environments, and conform to curvilinear paths in space. In addition, many designs offer inherent structural compliance and ease of miniaturization. After decades of pioneering research, a host of designs have now been investigated and have demonstrated capabilities beyond the scope of conventional rigid-link robots. Recently, we have seen increasing efforts aimed at leveraging these qualities to improve the frontiers of minimally invasive surgical interventions. Several concepts have now been commercialized, which are inspiring and enabling a current paradigm shift in surgical approaches toward flexible access routes, e.g., through natural orifices such as the nose. In this paper, we provide an overview of the current state of this field from the perspectives of both robotics science and medical applications. We discuss relevant research in design, modeling, control, and sensing for continuum manipulators, and we highlight how this work is being used to build robotic systems for specific surgical procedures. We provide perspective for the future by discussing current limitations, open questions, and challenges. |