As surgical interventions trend towards minimally invasive approaches, Concentric Tube Robots (CTRs) have been explored for various interventions such as brain, eye, fetoscopic, lung, cardiac and prostate surgeries. Arranged concentrically, each tube is rotated and translated independently to move the robot end-effector position, making kinematics and control challenging. Classical model-based approaches have been previously investigated with developments in deep learning based approaches outperforming more classical approaches in both forward kinematics and shape estimation. We propose a deep reinforcement learning approach to control where we generalise across two to four systems, an element not yet achieved in any other deep learning approach for CTRs. In this way we explore the likely robustness of the control approach. Also investigated is the impact of rotational constraints applied on tube actuation and the effects on error metrics. We evaluate inverse kinematics errors and tracking error for path following tasks and compare the results to those achieved using state of the art methods. Additionally, as current results are performed in simulation, we also investigate a domain transfer approach known as domain randomization and evaluate error metrics as an initial step towards hardware implementation. Finally, we compare our method to a Jacobian approach found in literature.
A Comprehensive General Model of Tendon-Actuated Concentric Tube Robots with Multiple Tubes and Tendons
Healthcare Robotics and Telesurgery Laboratory (Heartlab)（医疗机器人与远程手术实验室）；University of Louisville（路易斯维尔大学）；Mechanical Engineering and Materials Science（机械工程与材料科学）；Duke University（杜克大学）；Department of Cardiac Surgery（心脏外科部门）；Boston Children’s Hospital（波士顿儿童医院）；Harvard Medical School（哈佛医学院）
Robotic Test Tube Rearrangement Using Combined Reinforcement Learning and Motion Planning
Graduate School of Engineering Science, Osaka University（大阪大学工学研究科）；H.U. Group Research Institute G.K.（H.U.集团综合研究所）；National Inst. of AIST（日本产业技术综合研究所）
Department of Neurosurgery, Duke University School of Medicine, Durham, NC, USA（杜克大学医学院神经外科系）；Speed School of Engineering, University of Louisville, Louisville, KY, USA（路易斯维尔大学Speed工程学院）
Towards Design and Development of a Concentric Tube Steerable Drilling Robot for Creating S-shape Tunnels for Pelvic Fixation Procedures
Walker Department of Mechanical Engineering and Texas Robotics at the University of Texas at Austin（德克萨斯大学机械工程系和德克萨斯机器人学院）；Chandra Department of Electrical and Computer Engineering at The University of Texas at Austin（德克萨斯大学电气与计算机工程系）；Department of Neurosurgery, The University of Texas Dell Medical School（德克萨斯大学医学学院神经外科系）；School of Informatics, University of Edinburgh（爱丁堡大学信息学院）
A Surgical Platform for Intracerebral Hemorrhage Robotic Evacuation (ASPIHRE): A Non-metallic MR-guided Concentric Tube Robot
Georgia Institute of Technology（佐治亚理工学院）；Vanderbilt University Medical Center（范德堡大学医学中心）；George Washington University（乔治华盛顿大学）；Icahn School of Medicine at Mount Sinai（西奈山伊坎医学院）；DePaul University（德保罗大学）；Children’s National Hospital（全国儿童医院）
A Single-Fiber Optical Frequency Domain Reflectometry (OFDR)-Based Shape Sensing of Concentric Tube Steerable Drilling Robots
Walker Department of Mechanical Engineering and Texas Robotics at The University of Texas at Austin（德克萨斯大学机械工程系与德克萨斯机器人系）；School of Informatics, University of Edinburgh（爱丁堡大学信息学院）；Department of Orthopedic Oncology, Division of Surgery, The University of Texas M.D. Anderson Cancer Center（德克萨斯大学MD安德森癌症中心骨肉瘤科）；Department of Imaging Physics, Division of Diagnostic Imaging, The University of Texas MD Anderson Cancer Center（德克萨斯大学MD安德森癌症中心影像物理科）
Aerobatic maneuvers in insect-scale flapping-wing aerial robots via deep-learned robust tube model predictive control
Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology（电气工程与计算机科学系，麻省理工学院）；Department of Aeronautics and Astronautics, Massachusetts Institute of Technology（航空宇航系，麻省理工学院）
Multiple configurations for puncturing robot positioning
University of Science and Technology of China（中国科学技术大学）；Hohai University（河海大学）；Jiangsu Industrial Technology Research Institute（江苏产业技术研究院）；Egyptian Russian University（埃及俄罗斯大学）
Robust Convex Model Predictive Control with collision avoidance guarantees for robot manipulators
ABB robotics（ABB机器人公司）；Department of Mechanical Engineering, Imperial College London（帝国理工学院机械工程系）；Department of Information Technology, Uppsala University（乌普萨拉大学信息科技系）
Bab_Sak Robotic Intubation System (BRIS): A Learning-Enabled Control Framework for Safe Fiberoptic Endotracheal Intubation
Robotics Research Center, International Institute of Information Technology Hyderabad (IIIT-H)（机器人研究中心，国际信息科技研究所海得拉巴（IIIT-H））；J.P.N.Apex Trauma Center, All India Institute of Medical Sciences（J.P.N.Apex创伤中心，全印度医学科学研究所）
Provably Safe Motion Planning Under Unknown Disturbances
Department of Aerospace Engineering Sciences at the University of Colorado Boulder（科罗拉多大学博尔德分校航空航天工程科学系）；Department of Aerospace and Ocean Engineering（航空航天与海洋工程系）；Delft University of Technology（代尔夫特理工大学）；Italian Institute of Artificial Intelligence（意大利人工智能研究所）
Navigating Robot Swarm Through a Virtual Tube with Flow-Adaptive Distribution Control
School of Mathematical Sciences, Beihang University（北京航空航天大学数学科学学院）；School of Automation Science and Electrical Engineering, Beihang University（北京航空航天大学自动化科学与电气工程学院）
InPTC: Integrated Planning and Tube-Following Control for Prescribed-Time Collision-Free Navigation of Wheeled Mobile Robots
School of Automation Science and Electrical Engineering, Beihang University（北京航空航天大学自动化科学与电气工程学院）；The Hong Kong Polytechnic University (PolyU)（香港理工大学）；Instituto Tecnológico Autónomo de México (ITAM)（墨西哥自治技术学院）
Ultra-slender Coaxial Antagonistic Tubular Robot for Ambidextrous Manipulation
West China Hospital of Medicine, Sichuan University（四川大学华西医学院）；Shien-Ming Wu School of Intelligent Engineering, South China University of Technology（华南理工大学伍舜明智能工程学院）；School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China（电子科技大学机械与电气工程学院）；School of Mechanical Engineering, Sichuan University（四川大学机械工程学院）；Centre for Artificial Intelligence and Robotics (CAIR) Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences（中国科学院香港创新研究院人工智能与机器人中心）
A Supervised Autonomous Resection and Retraction Framework for Transurethral Enucleation of the Prostatic Median Lobe
Laboratory for Computational Sensing and Robotics, Johns Hopkins University（计算感知与机器人实验室，约翰霍普金斯大学）；Department of Mechanical Engineering, Vanderbilt University（机械工程系，范德比尔特大学）；Department of Computer Science, Vanderbilt University（计算机科学系，范德比尔特大学）；Department of General Surgery, Vanderbilt University Medical Center（外科学系，范德比尔特大学医学中心）；Virtuoso Surgical（Virtuoso手术公司）；Department of Urology, Johns Hopkins University James Buchanan Brady Urological Institute（泌尿外科系，约翰霍普金斯大学詹姆斯·布坎南·布里克泌尿外科研究所）
