Design and Optimization of Concentric Tube Robots Based on Surgical Tasks, Anatomical Constraints and Follow-the-Leader Deployment

• Published in: IEEE access Vol. 7; pp. 173612 - 173625
• Main Authors: Yang, Xing, Song, Shuang, Liu, Li, Yan, Tingfang, Meng, Max Q.-H.
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Anatomical constraints; Brain; concentric tube robot; Curvature; Design optimization; Diameters; Electron tubes; follow-the-leader deployment; Inverse kinematics; Iterative methods; Mathematical models; multi-surgical tasks; Neurological diseases; Neurosurgery; Optimization; Parameters; patient-specific design and optimization; Robots; Superplasticity; Surgical instruments; Task analysis; Trajectory; Tubes; Waypoints

Many neurological disorders are characterized by the focal and anatomically definable lesions within the brain parenchyma. Traditional treatment may introduce major trauma in neurosurgery and conventional medical devices can only trace straight trajectories. To overcome these problems, a design and...