Article | REF: S7767 V1

Design, modeling and control of concentric tube robots: towards medical applications

Authors: Mohamed Nassim BOUSHAKI, Mohamed Taha CHIKHAOUI, Kanty RABENOROSOA, Chao LIU, Nicolas ANDREFF, Philippe POIGNET

Publication date: May 10, 2016

You do not have access to this resource.
Click here to request your free trial access!

Already subscribed? Log in!


Français

4. Path planning

In order to direct the robot to its target in the presence of sensitive anatomical structures, a trajectory planner based on the patient's anatomy is essential. The trajectory planner calculates the optimal joint sequence that enables the robot's end effector to reach the desired position. The calculation of the optimal actuation sequence is highly dependent on the robot's geometric model. The evolution of trajectory planners for RTCs has followed the evolution of their geometric modeling.

These planners have been dedicated to several different medical applications. In this section, existing trajectory planners for RTCs are outlined with a discussion of the specificity of each work presented.

The first work in trajectory planning for RTCs was introduced by Lyons et al.

You do not have access to this resource.

Exclusive to subscribers. 97% yet to be discovered!

You do not have access to this resource.
Click here to request your free trial access!

Already subscribed? Log in!


The Ultimate Scientific and Technical Reference

A Comprehensive Knowledge Base, with over 1,200 authors and 100 scientific advisors
+ More than 10,000 articles and 1,000 how-to sheets, over 800 new or updated articles every year
From design to prototyping, right through to industrialization, the reference for securing the development of your industrial projects

This article is included in

Healthcare technologies

This offer includes:

Knowledge Base

Updated and enriched with articles validated by our scientific committees

Services

A set of exclusive tools to complement the resources

Practical Path

Operational and didactic, to guarantee the acquisition of transversal skills

Doc & Quiz

Interactive articles with quizzes, for constructive reading

Subscribe now!

Ongoing reading
Path planning