Minimum Sweeping Area Motion Planning for Flexible Serpentine Surgical Manipulator with Kinematic Constraints
Refereed conference paper presented and published in conference proceedings

香港中文大學研究人員

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摘要Flexible serpentine manipulators are widely used in surgical robots as it can be operated inside the patient's body cavity by backbone bending. However, during the bending the manipulator sweeps over a region, where sensitive organs may locate. This raises the safety concern. In this paper, a motion planning algorithm focusing on minimize the sweeping area for flexible serpentine manipulators is presented. Particularly, a three dimensional backward average neural dynamic model (BANDM) is proposed to build minimum sweeping area planning field in the configuration space of the serpentine manipulator. Given a target position, the motion sequence is generated automatically based on the established planning field. The simulations and experimental results validate the effectiveness and superiority of the proposed planning approach over conventional planning algorithms in terms of sweeping area with keeping target reach and obstacle avoidance.
著者Chen YJ, Li Z, Xu WJ, Wang YN, Ren HL
會議名稱IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
會議開始日28.09.2015
會議完結日02.10.2015
會議地點Hamburg
會議國家/地區德國
詳細描述organized by IEEE,
出版年份2015
月份1
日期1
出版社IEEE
頁次6348 - 6353
電子國際標準書號978-1-4799-9994-1
國際標準期刊號2153-0858
語言英式英語
Web of Science 學科類別Computer Science; Computer Science, Artificial Intelligence; Robotics

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