发表机构
University of North Carolina at Chapel Hill; Vanderbilt University; The University of Tennessee, Knoxville（北卡罗来纳大学教堂山分校; 范德堡大学; 田纳西大学诺克斯维尔分校）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对外科连续体机器人，提出一种结合解剖环境的灵巧性设计优化方法，采用RVDSA度量与高效运动规划及模拟退火优化，使结肠息肉手术机器人灵巧性提升78%。
AI 中文摘要
使用连续体机器人执行复杂医疗程序需要仔细选择其几何设计参数。机器人应在其手术的特定解剖环境中具有高灵巧性。本工作提出了一种同时考虑灵巧性和解剖结构的设计优化方法。我们引入可达体积灵巧立体角（RVDSA）度量作为目标函数，该度量衡量机器人末端执行器从起始配置通过无碰撞路径从不同方向到达目标体积内各点的能力。我们提出了一种计算效率高的运动规划器来计算给定机器人设计的目标函数，并使用渐近最优模拟退火优化器来计算优化设计。我们将新方法应用于优化双臂灵巧鞘管机器人的设计，以在结肠解剖结构中对癌性息肉执行手术，与仅优化3D体素覆盖相比，平均RVDSA提高了78%。
英文摘要
Performing complex medical procedures with continuum robots requires careful selection of their geometric design parameters. The robot should have high dexterity in the specific anatomical environment of its procedure. This work presents a design optimization method that considers both dexterity and anatomy. We introduce the Reachable Volumetric Dexterous Solid Angle (RVDSA) metric as our objective, which measures the ability of a robot's end effector to reach the points in a goal volume from different directions via collision-free paths from a start configuration. We present a computationally efficient motion planner to compute this objective function for a given robotic design, and we use an asymptotically optimal simulated annealing optimizer to compute an optimized design. We applied our new method to optimize the design of a bimanual dexterous sheaths robot for performing procedures on cancerous polyps in colon anatomies, achieving a 78% higher RVDSA on average than optimizing for 3D voxel coverage alone.
