Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy
Jian Chen, Mingcong Chen, Qingxiang Zhao, Shuai Wang, Yihe Wang, Ying Xiao, Jian Hu, Danny Tat Ming Chan
Abstract
Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope MicroNeuro, designed to perform biopsies with dexterous surgical manipulation deep in the brain. Taking into account the uncertainty of the control model, an image-based visual servoing with online robot Jacobian estimation has been implemented to enhance motion accuracy. Furthermore, the application of model predictive control with constraints significantly bolsters the flexible robot’s ability to adaptively track mobile objects and resist external interference. Experimental results underscore that the proposed control system enhances motion stability and precision. Phantom testing substantiates its considerable potential for deployment in neurosurgery.
BibTeX
@inproceedings{icra2024_designandvisuals,
title = {Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy},
author = {Jian Chen and Mingcong Chen and Qingxiang Zhao and Shuai Wang and Yihe Wang and Ying Xiao and Jian Hu and Danny Tat Ming Chan and Kam Tong Leo Yeung and David Yuen Chung Chan and Hongbin Liu},
booktitle = {ICRA 2024},
year = {2024}
}