Abstract:
Concentric tube robots (CTRs) show particular promise for minimally invasive surgery due to their inherent compliance and ability to navigate in constrained environments....Show MoreMetadata
Abstract:
Concentric tube robots (CTRs) show particular promise for minimally invasive surgery due to their inherent compliance and ability to navigate in constrained environments. Due to variations in anatomy among patients and variations in task requirements among procedures, it is necessary to customize the design of these robots on a patient- or population-specific basis. However, the complex kinematics and large design space make the design problem challenging. In this article, we propose a computational framework that can efficiently optimize a robot design and a motion plan to enable safe navigation through the patient’s anatomy. The current framework is the first fully gradient-based method for CTR design optimization and motion planning, enabling an efficient and scalable solution for simultaneously optimizing continuous variables, even across multiple anatomies. The framework is demonstrated using two clinical examples, laryngoscopy and heart biopsy, where the optimization problems are solved for a single patient and across multiple patients, respectively.
Published in: IEEE Transactions on Robotics ( Volume: 38, Issue: 6, December 2022)
Funding Agency:
Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, USA
Jui-Te Lin received the B.S. degree in mechanical and electromechanical engineering from Tamkang University, New Taipei City, Taiwan, in 2017, and the M.S. degree in 2020 from the University of California San Diego, La Jolla, CA, USA, where he is currently working toward the Ph.D. degree in mechanical and aerospace engineering.
His research focuses on the design and control of continuum robots.
Jui-Te Lin received the B.S. degree in mechanical and electromechanical engineering from Tamkang University, New Taipei City, Taiwan, in 2017, and the M.S. degree in 2020 from the University of California San Diego, La Jolla, CA, USA, where he is currently working toward the Ph.D. degree in mechanical and aerospace engineering.
His research focuses on the design and control of continuum robots.View more
Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, USA
Cédric Girerd received the Engineering degree in mechatronics from SIGMA Clermont, Clermont-Ferrand, France, the M.Sc. degree in robotics from University Blaise Pascal in Clermont-Ferrand, Clermont-Ferrand, France, in 2014, and the Ph.D. degree in robotics from the University of Strasbourg, Strasbourg, France, in 2018.
He is currently a Postdoctoral Researcher with the University of California San Diego, La Jolla, CA, USA....Show More
Cédric Girerd received the Engineering degree in mechatronics from SIGMA Clermont, Clermont-Ferrand, France, the M.Sc. degree in robotics from University Blaise Pascal in Clermont-Ferrand, Clermont-Ferrand, France, in 2014, and the Ph.D. degree in robotics from the University of Strasbourg, Strasbourg, France, in 2018.
He is currently a Postdoctoral Researcher with the University of California San Diego, La Jolla, CA, USA....View more
Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, USA
Jiayao Yan received the B.Eng. degree in mechanical and aerospce engineering from Jilin University, Changchun, China, in 2017, and the M.S. degree in mechanical and aerospce engineering in 2020 from the University of California San Diego, La Jolla, CA, USA, where she is currently working toward the Ph.D. degree in mechanical and aerospce engineering.
Her research focuses on the structural design and control of soft robots ...Show More
Jiayao Yan received the B.Eng. degree in mechanical and aerospce engineering from Jilin University, Changchun, China, in 2017, and the M.S. degree in mechanical and aerospce engineering in 2020 from the University of California San Diego, La Jolla, CA, USA, where she is currently working toward the Ph.D. degree in mechanical and aerospce engineering.
Her research focuses on the structural design and control of soft robots ...View more
Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, USA
John T. Hwang received the B.A.Sc. degree in engineering science from the University of Toronto, Toronto, ON, Canada, in 2010, and the M.S.E. degree in aerospace engineering, the M.S. degree in mathematics, and the Ph.D. degree in aerospace engineering from the University of Michigan, Ann Arbor, MI, USA, in 2012, 2013, and 2015, respectively.
He is currently an Assistant Professor with the Department of Mechanical and Aero...Show More
John T. Hwang received the B.A.Sc. degree in engineering science from the University of Toronto, Toronto, ON, Canada, in 2010, and the M.S.E. degree in aerospace engineering, the M.S. degree in mathematics, and the Ph.D. degree in aerospace engineering from the University of Michigan, Ann Arbor, MI, USA, in 2012, 2013, and 2015, respectively.
He is currently an Assistant Professor with the Department of Mechanical and Aero...View more
Department of Mechanical and Aerospace Engineering, Department of Surgery, University of California, San Diego, CA, USA
Tania K. Morimoto (Member, IEEE) received the B.S. degree from the Massachusetts Institute of Technology, Cambridge, MA, USA, in 2012, and the M.S. and Ph.D. degrees from Stanford University, Stanford, CA, USA, in 2015 and 2017, respectively, all in mechanical engineering.
She is currently an Assistant Professor with Mechanical and Aerospace Engineering Department and the Surgery Department, University of California San Di...Show More
Tania K. Morimoto (Member, IEEE) received the B.S. degree from the Massachusetts Institute of Technology, Cambridge, MA, USA, in 2012, and the M.S. and Ph.D. degrees from Stanford University, Stanford, CA, USA, in 2015 and 2017, respectively, all in mechanical engineering.
She is currently an Assistant Professor with Mechanical and Aerospace Engineering Department and the Surgery Department, University of California San Di...View more
Contents Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, USA
Jui-Te Lin received the B.S. degree in mechanical and electromechanical engineering from Tamkang University, New Taipei City, Taiwan, in 2017, and the M.S. degree in 2020 from the University of California San Diego, La Jolla, CA, USA, where he is currently working toward the Ph.D. degree in mechanical and aerospace engineering.
His research focuses on the design and control of continuum robots.
Jui-Te Lin received the B.S. degree in mechanical and electromechanical engineering from Tamkang University, New Taipei City, Taiwan, in 2017, and the M.S. degree in 2020 from the University of California San Diego, La Jolla, CA, USA, where he is currently working toward the Ph.D. degree in mechanical and aerospace engineering.
His research focuses on the design and control of continuum robots.View more
Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, USA
Cédric Girerd received the Engineering degree in mechatronics from SIGMA Clermont, Clermont-Ferrand, France, the M.Sc. degree in robotics from University Blaise Pascal in Clermont-Ferrand, Clermont-Ferrand, France, in 2014, and the Ph.D. degree in robotics from the University of Strasbourg, Strasbourg, France, in 2018.
He is currently a Postdoctoral Researcher with the University of California San Diego, La Jolla, CA, USA. His research focuses on the design and control of continuum and soft robots.
Cédric Girerd received the Engineering degree in mechatronics from SIGMA Clermont, Clermont-Ferrand, France, the M.Sc. degree in robotics from University Blaise Pascal in Clermont-Ferrand, Clermont-Ferrand, France, in 2014, and the Ph.D. degree in robotics from the University of Strasbourg, Strasbourg, France, in 2018.
He is currently a Postdoctoral Researcher with the University of California San Diego, La Jolla, CA, USA. His research focuses on the design and control of continuum and soft robots.View more
Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, USA
Jiayao Yan received the B.Eng. degree in mechanical and aerospce engineering from Jilin University, Changchun, China, in 2017, and the M.S. degree in mechanical and aerospce engineering in 2020 from the University of California San Diego, La Jolla, CA, USA, where she is currently working toward the Ph.D. degree in mechanical and aerospce engineering.
Her research focuses on the structural design and control of soft robots using large-scale gradient-based optimization.
Jiayao Yan received the B.Eng. degree in mechanical and aerospce engineering from Jilin University, Changchun, China, in 2017, and the M.S. degree in mechanical and aerospce engineering in 2020 from the University of California San Diego, La Jolla, CA, USA, where she is currently working toward the Ph.D. degree in mechanical and aerospce engineering.
Her research focuses on the structural design and control of soft robots using large-scale gradient-based optimization.View more
Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, USA
John T. Hwang received the B.A.Sc. degree in engineering science from the University of Toronto, Toronto, ON, Canada, in 2010, and the M.S.E. degree in aerospace engineering, the M.S. degree in mathematics, and the Ph.D. degree in aerospace engineering from the University of Michigan, Ann Arbor, MI, USA, in 2012, 2013, and 2015, respectively.
He is currently an Assistant Professor with the Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, CA, USA. His research interests include multidisciplinary design optimization methods and their application to the design of aircraft, spacecraft, robots, and other engineering systems.
John T. Hwang received the B.A.Sc. degree in engineering science from the University of Toronto, Toronto, ON, Canada, in 2010, and the M.S.E. degree in aerospace engineering, the M.S. degree in mathematics, and the Ph.D. degree in aerospace engineering from the University of Michigan, Ann Arbor, MI, USA, in 2012, 2013, and 2015, respectively.
He is currently an Assistant Professor with the Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, CA, USA. His research interests include multidisciplinary design optimization methods and their application to the design of aircraft, spacecraft, robots, and other engineering systems.View more
Department of Mechanical and Aerospace Engineering, Department of Surgery, University of California, San Diego, CA, USA
Tania K. Morimoto (Member, IEEE) received the B.S. degree from the Massachusetts Institute of Technology, Cambridge, MA, USA, in 2012, and the M.S. and Ph.D. degrees from Stanford University, Stanford, CA, USA, in 2015 and 2017, respectively, all in mechanical engineering.
She is currently an Assistant Professor with Mechanical and Aerospace Engineering Department and the Surgery Department, University of California San Diego, La Jolla, CA, USA. Her research interests include robotics, haptics, and engineering education. Dr. Morimoto was recipient of the NSF CAREER Award in 2022.
Tania K. Morimoto (Member, IEEE) received the B.S. degree from the Massachusetts Institute of Technology, Cambridge, MA, USA, in 2012, and the M.S. and Ph.D. degrees from Stanford University, Stanford, CA, USA, in 2015 and 2017, respectively, all in mechanical engineering.
She is currently an Assistant Professor with Mechanical and Aerospace Engineering Department and the Surgery Department, University of California San Diego, La Jolla, CA, USA. Her research interests include robotics, haptics, and engineering education. Dr. Morimoto was recipient of the NSF CAREER Award in 2022.View more
