NDLI: Minimum sweeping area motion planning for flexible serpentine surgical manipulator with kinematic constraints

Content Provider	IEEE Xplore Digital Library
Author	Yanjie Chen Zheng Li Wenjun Xu Yaonan Wang Hongliang Ren
Copyright Year	2015
Description	Author affiliation: Chow Yuk Ho Technol. Centre for Innovative Med., Chinese Univ. of Hong Kong, Hong Kong, China (Zheng Li) \|\| Coll. of Electr. & Inf. Eng., Hunan Univ., Changsha, China (Yanjie Chen; Yaonan Wang) \|\| Dept. of Biomed. Eng., Nat. Univ. of Singapore, Singapore, Singapore (Wenjun Xu; Hongliang Ren)
Abstract	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.
Starting Page	6348
Ending Page	6353
File Size	5164818
Page Count	6
File Format	PDF
e-ISBN	9781479999941
DOI	10.1109/IROS.2015.7354284
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-28
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Planning Manipulator dynamics Neurons Mathematical model Dynamics Heuristic algorithms
Content Type	Text
Resource Type	Article

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