[2402.09679] Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy
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Computer Science > Robotics

arXiv:2402.09679 (cs)
[Submitted on 15 Feb 2024 (v1), last revised 23 Feb 2024 (this version, v2)]

Title:Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy

Authors:Jian Chen, Mingcong Chen, Qingxiang Zhao, Shuai Wang, Yihe Wang, Ying Xiao, Jian Hu, Danny Tat Ming Chan, Kam Tong Leo Yeung, David Yuen Chung Chan, Hongbin Liu
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Abstract:Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope MicroNeuro, designed to perform biopsies with dexterous surgical manipulation deep in the brain. Taking into account the uncertainty of the control model, an image-based visual servoing with online robot Jacobian estimation has been implemented to enhance motion accuracy. Furthermore, the application of model predictive control with constraints significantly bolsters the flexible robot's ability to adaptively track mobile objects and resist external interference. Experimental results underscore that the proposed control system enhances motion stability and precision. Phantom testing substantiates its considerable potential for deployment in neurosurgery.
Comments: Accepted by IEEE International Conference on Robotics and Automation (ICRA) 2024, 7 pages, 9 figures
Subjects: Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2402.09679 [cs.RO]
  (or arXiv:2402.09679v2 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2402.09679
Journal reference: IEEE International Conference on Robotics & Automation, 2024

Submission history

From: Jian Chen [view email]
[v1] Thu, 15 Feb 2024 03:23:06 UTC (4,775 KB)
[v2] Fri, 23 Feb 2024 05:17:41 UTC (4,775 KB)
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