Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs
| Autor: | Ron Alterovitz, Siddhartha S. Srinivasa, Sherdil Niyaz, Alan Kuntz, Oren Salzman |
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| Rok vydání: | 2020 |
| Předmět: |
Telescoping series
business.industry Computer science 0206 medical engineering 0102 computer and information sciences 02 engineering and technology Kinematics Concentric 020601 biomedical engineering 01 natural sciences k-nearest neighbors algorithm 010201 computation theory & mathematics Robot Computer vision Artificial intelligence Tube (container) User interface business Planning algorithms |
| Zdroj: | Springer Proceedings in Advanced Robotics ISBN: 9783030339494 ISER |
| Popis: | Concentric tube robots, or CTRs, are tentacle-like robots composed of precurved telescoping tubes (Fig. 1a) and are controlled by rotating and translating each individual tube [6]. Their dexterity and small diameter enable minimally-invasive surgery in constrained areas, such as accessing the pituitary gland via the sinuses. Unfortunately, their unintuitive kinematics make manually guiding the tip while also avoiding obstacles with the entire tentacle-like shape extremely difficult [19]. This motivates a need for new user interfaces and planning algorithms. |
| Databáze: | OpenAIRE |
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