Publications

@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}
}

@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}
}