Path Planning for Concentric Tube Robots: a Toolchain with Application to Stereotactic Neurosurgery

Autor:	Hoffmann, Matthias K., Esterhuizen, Willem, Worthmann, Karl, Flaßkamp, Kathrin
Rok vydání:	2022
Předmět:	Mathematics - Optimization and Control Computer Science - Robotics Electrical Engineering and Systems Science - Systems and Control 49M20 65H20 92C50 70E60 34H05 I.6.3 J.2 J.3
Druh dokumentu:	Working Paper
Popis:	We present a toolchain for solving path planning problems for concentric tube robots through obstacle fields. First, ellipsoidal sets representing the target area and obstacles are constructed from labelled point clouds. Then, the nonlinear and highly nonconvex optimal control problem is solved by introducing a homotopy on the obstacle positions where at one extreme of the parameter the obstacles are removed from the operating space, and at the other extreme they are located at their intended positions. We present a detailed example (with more than a thousand obstacles) from stereotactic neurosurgery with real-world data obtained from labelled MPRI scans. Comment: 8 pages, 7 figures. Paper under review
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2211.15206 Zobrazit plný text záznamu View this record from Arxiv