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Related Experiment Video

Updated: Apr 20, 2026

Operation of the Collaborative Composite Manufacturing CCM System

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

Interactive-rate Motion Planning for Concentric Tube Robots.

Luis G Torres¹, Cenk Baykal¹, Ron Alterovitz¹

¹Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27517, USA {luis,baykal,ron}@cs.unc.edu.

IEEE International Conference on Robotics and Automation : ICRA : [Proceedings]. IEEE International Conference on Robotics and Automation

|December 2, 2014

Summary

This summary is machine-generated.

This study presents a fast motion planning method for concentric tube robots, enabling safer minimally invasive surgery. The system allows real-time collision avoidance for navigating complex anatomical pathways.

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Area of Science:

Robotics
Medical Robotics
Surgical Robotics

Background:

Concentric tube robots offer potential for safer, minimally invasive surgery by navigating curved paths to reach difficult anatomical sites.
Operating these robots is complex due to unintuitive kinematics and the need to avoid sensitive tissues.

Purpose of the Study:

To develop and demonstrate a high-speed motion planning method for concentric tube robots.
To enable collision-free navigation for these robots during minimally invasive procedures.

Main Methods:

A motion planning method combining offline precomputation of a collision-free roadmap with online position control was developed.
A highly accurate mechanical model of tube interactions was employed to manage the device's complex shape changes.
The planner computes collision-free motion plans for concentric tube robots at interactive rates.

Main Results:

The developed motion planner achieves high speed and accuracy, enabling interactive control.
The system allows users to freely move the robot's tip while the planner ensures the shaft avoids anatomical obstacles.
Demonstrated effectiveness in a simulated neurosurgical scenario with automatic collision avoidance.

Conclusions:

The interactive motion planning method enhances the safety and usability of concentric tube robots for minimally invasive surgery.
This approach facilitates navigation in complex anatomical regions, overcoming previous operational challenges.
The combination of precomputation and online control provides a robust solution for real-time surgical robot guidance.