TY - CHAP
T1 - Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs
AU - Niyaz, Sherdil
AU - Kuntz, Alan
AU - Salzman, Oren
AU - Alterovitz, Ron
AU - Srinivasa, Siddhartha
N1 - Publisher Copyright: © 2020, Springer Nature Switzerland AG.
PY - 2020
Y1 - 2020
N2 - Concentric tube robots, or CTRs, are tentacle-like robots composed of precurved telescoping tubes (Fig. 1a) and are controlled by rotating and translating each individual tube [6]. Their dexterity and small diameter enable minimally-invasive surgery in constrained areas, such as accessing the pituitary gland via the sinuses. Unfortunately, their unintuitive kinematics make manually guiding the tip while also avoiding obstacles with the entire tentacle-like shape extremely difficult [19]. This motivates a need for new user interfaces and planning algorithms.
AB - Concentric tube robots, or CTRs, are tentacle-like robots composed of precurved telescoping tubes (Fig. 1a) and are controlled by rotating and translating each individual tube [6]. Their dexterity and small diameter enable minimally-invasive surgery in constrained areas, such as accessing the pituitary gland via the sinuses. Unfortunately, their unintuitive kinematics make manually guiding the tip while also avoiding obstacles with the entire tentacle-like shape extremely difficult [19]. This motivates a need for new user interfaces and planning algorithms.
UR - http://www.scopus.com/inward/record.url?scp=85104552416&partnerID=8YFLogxK
U2 - https://doi.org/10.1007/978-3-030-33950-0_1
DO - https://doi.org/10.1007/978-3-030-33950-0_1
M3 - فصل
T3 - Springer Proceedings in Advanced Robotics
SP - 3
EP - 13
BT - Springer Proceedings in Advanced Robotics
ER -