Related Experiment Video
Updated: Jul 12, 2025
11:53
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
11.7K
Concentric Tube Robot Redundancy Resolution via Velocity/Compliance Manipulability Optimization
Jia Shen1, Yifan Wang1, Milad Azizkhani1
1Department of Mechanical Engineering, Georgia Institute of Technology, Atlanta 30332 USA.
IEEE Robotics and Automation Letters
|October 24, 2023
Summary
This study introduces a new method for Concentric Tube Robots (CTR) to improve surgical path tracking using manipulability optimization. The framework enhances safety and feasibility of actuator commands for minimally invasive surgeries.
Area of Science:
- Robotics
- Minimally Invasive Surgery
- Control Systems
Background:
- Concentric Tube Robots (CTR) show promise for minimally invasive surgery.
- Existing CTR research focuses on modeling and control, with limited attention to manipulability for path tracking.
- Manipulability is crucial for safe motion and feasible actuator commands in CTRs.
Purpose of the Study:
- To propose a gradient-based redundancy resolution framework for CTRs.
- To optimize velocity/compliance manipulability indices during path tracking.
- To enhance path tracking performance and ensure safe, feasible robot movements.
Main Methods:
- Developed a gradient-based framework for redundancy resolution in CTRs.
- Utilized Cosserat rod model derivatives for efficient manipulability gradient calculation.
- Employed null-space projection for optimizing task-specific performance indices.
Main Results:
- Achieved a 68% reduction in gradient computation time compared to finite difference methods.
- Demonstrated successful task accomplishment with the proposed method.
- Showcased superior performance over commonly used redundancy resolution techniques.
Conclusions:
- The proposed framework effectively optimizes manipulability for CTR path tracking.
- This approach enhances the safety and feasibility of surgical motions.
- Offers a significant improvement over existing methods for CTR control.
Related Concept Videos
01:15Torque Free Motion
493
The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
493
01:14Mechanical Efficiency of Real Machines
714
The mechanical efficiency of a machine is a fundamental concept that describes how effectively a machine can convert input work into output work. According to this concept, the efficiency of a machine is equal to the ratio of the output work to the input work. An ideal machine, meaning a machine that has no energy losses, has an efficiency of one. This implies that the input work and the output work are equal.
However, in reality, no machine can be truly ideal, and all of them experience some...
However, in reality, no machine can be truly ideal, and all of them experience some...
714
01:24One-Degree-of-Freedom System
494
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
494
01:17Rolling Resistance: Problem Solving
352
Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
352
01:30Three-Dimensional Force System:Problem Solving
674
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
674
01:22Mechanical Systems
212
Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
212