Knowledge Commons of Institute of Automation,CAS
Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy | |
Chen, Jian1,2,3![]() ![]() ![]() | |
2024 | |
会议名称 | 2024 IEEE International Conference on Robotics and Automation (ICRA 2024) |
会议日期 | May 13-17, 2024 |
会议地点 | Yokohama, Japan |
摘要 | 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. |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 其他 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/56552 |
专题 | 多模态人工智能系统全国重点实验室_智能微创医疗技术团队 |
通讯作者 | Liu, Hongbin |
作者单位 | 1.School of Artificial Intelligence, University of Chinese Academy of Sciences 2.State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences 3.Centre of AI and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences 4.Department of Biomedical Engineering, City University of Hong Kong 5.Department of Surgery, The Chinese University of Hong Kong 6.School of Biomedical Engineering and Imaging Sciences, King' s College London |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Chen, Jian,Chen, Mingcong,Zhao, Qingxiang,et al. Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy[C],2024. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
130984-4282.pdf(5573KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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