Safety-Enhanced Motion Planning for Flexible Surgical Manipulator Using Neural Dynamics

• Published in: IEEE transactions on control systems technology Vol. 25; no. 5; pp. 1711 - 1723
• Main Authors: Chen, Yanjie, Xu, Wenjun, Li, Zheng, Song, Shuang, Lim, Chwee Ming, Wang, Yaonan, Ren, Hongliang
• Format: Journal Article
• Language: English
• Published: IEEE 01.09.2017
• Subjects: Electron tubes; Heuristic algorithms; Manipulator dynamics; Medical robotics; minimum sweeping area; motion planning; neural dynamics; Planning; tendon-driven serpentine manipulator; Trajectory

Robot-assisted systems have been developed for minimally invasive surgical procedures, which bring tremendous benefits for patients, such as less trauma, less bleeding, and shorter recovery time. Among the contemporary surgical robotic manipulators, flexible serpentine manipulator shows great advant...