Interactive-Rate Supervisory Control for Arbitrarily-Routed Multitendon Robots via Motion Planning
نویسندگان
چکیده
Tendon-driven robots, where one or more tendons under tension bend and manipulate a flexible backbone, can improve minimally invasive surgeries involving difficult-to-reach regions in the human body. Planning motions safely within constrained anatomical environments requires accuracy efficiency shape estimation collision checking. Tendon robots that employ arbitrarily-routed achieve complex interesting shapes, enabling them to travel regions. Arbitrarily-routed tendon-driven have unintuitive nonlinear kinematics. Therefore, we envision clinicians leveraging an assistive interactive-rate motion planner automatically generate collision-free trajectories clinician-specified destinations during minimally-invasive surgical procedures. Standard motion-planning techniques cannot planning with current expensive tendon robot kinematic models. In this work, present 3-phase system for Precompute phase, Load Supervisory Control phase. Our achieves interactive rate by developing fast model (over 1,000 times faster than models), voxel method (27.6 standard methods), precomputed roadmap of entire workspace pre-voxelized vertices edges. simulated experiments, show our high tip-position generates plans at 14.8 Hz on average segmented collapsed lung pleural space environment. results is 17,700 popular off-the-shelf algorithms FK detection approaches. open-source code available online.
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2022
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2022.3194515