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. 2019 Jan;4(1):145-152.
doi: 10.1109/LRA.2018.2881987. Epub 2018 Nov 19.

Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots

Tipakorn Greigarn  1 , Nate Lombard Poirot  1 , Xinyang Xu  1 , M Cenk Çavuşoğlu  1
Affiliations

Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots

Tipakorn Greigarn et al. IEEE Robot Autom Lett. 2019 Jan.

Abstract

Robot-assisted medical interventions, such as robotic catheter ablation, often require the robot to perform tasks on a tissue surface. This paper presents a task-space motion planning method that generates actuation trajectories which steer the end- effector of the MRI-actuated robot along desired trajectories on the surface. The continuum robot is modeled using the pseudo-rigid-body model, where the continuum body of the robot is approximated by rigid links joined by flexible joints. The quasistatic motion model of the robot is formulated as a potential energy minimization problem. The Jacobian of the quasistatic motion model is used in calculating the actuations that steer the tip in the desired directions. The proposed method is validated experimentally in a clinical 3-T MRI scanner.

Keywords: Surgical Robotics: Planning; Surgical Robotics: Steerable Catheters/Needles.

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Figures

Fig. 1:
Fig. 1:
MRI-actuated catheter with two actuators. Each actuator has three mutually orthogonal coils that can generate magnetic moments in any direction. The cross products between the magnetic moments and the MRI scanner’s magnetic field are the torques that remotely steer the robot.
Fig. 2:
Fig. 2:
The MRI-actuated catheter with two actuators (right) and the corresponding PRB model (left).
Fig. 3:
Fig. 3:
Experimental setup.
Fig. 4:
Fig. 4:
Comparisons between the simulated trajectories without initial deflection (blue), with initial deflection (red), and the experimental (yellow) trajectories. The trajectories are expressed in the surface coordinates.
See this image and copyright information in PMC

References

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