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; Kam Tong Leo Yeung; David Yuen Chung Chan; Hongbin Liu

doi:10.1109/ICRA57147.2024.10610302

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
, Kam Tong Leo Yeung
, David Yuen Chung Chan
, Hongbin Liu^*

^*Corresponding author for this work

Department of Biomedical Engineering

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

4 Citations (Scopus)

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. © 2024 IEEE.

Original language	English
Title of host publication	2024 IEEE International Conference on Robotics and Automation (ICRA)
Publisher	IEEE
Pages	5906-5912
ISBN (Electronic)	9798350384574
ISBN (Print)	979-8-3503-8458-1
DOIs	https://doi.org/10.1109/ICRA57147.2024.10610302
Publication status	Published - 2024
Event	2024 IEEE International Conference on Robotics and Automation (ICRA 2024): CONNECT+ - Yokohama, Japan Duration: 13 May 2024 → 17 May 2024 https://2024.ieee-icra.org/

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2024 IEEE International Conference on Robotics and Automation (ICRA 2024)
Abbreviated title	ICRA2024
Place	Japan
City	Yokohama
Period	13/05/24 → 17/05/24
Internet address	https://2024.ieee-icra.org/

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10.1109/ICRA57147.2024.10610302

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Chen, J., Chen, M., Zhao, Q., Wang, S., Wang, Y., Xiao, Y., Hu, J., Ming Chan, D. T., Tong Leo Yeung, K., Chung Chan, D. Y., & Liu, H. (2024). Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy. In 2024 IEEE International Conference on Robotics and Automation (ICRA) (pp. 5906-5912). (Proceedings - IEEE International Conference on Robotics and Automation). IEEE. https://doi.org/10.1109/ICRA57147.2024.10610302

@inproceedings{529047902f1b463191b11b3c2cd01096,

title = "Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy",

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. {\textcopyright} 2024 IEEE.",

author = "Jian Chen and Mingcong Chen and Qingxiang Zhao and Shuai Wang and Yihe Wang and Ying Xiao and Jian Hu and \{Ming Chan\}, \{Danny Tat\} and \{Tong Leo Yeung\}, Kam and \{Chung Chan\}, \{David Yuen\} and Hongbin Liu",

year = "2024",

doi = "10.1109/ICRA57147.2024.10610302",

language = "English",

isbn = "979-8-3503-8458-1",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "IEEE",

pages = "5906--5912",

booktitle = "2024 IEEE International Conference on Robotics and Automation (ICRA)",

address = "United States",

note = "2024 IEEE International Conference on Robotics and Automation (ICRA 2024) : CONNECT+, ICRA2024 ; Conference date: 13-05-2024 Through 17-05-2024",

url = "https://2024.ieee-icra.org/",

}

Chen, J, Chen, M, Zhao, Q, Wang, S, Wang, Y, Xiao, Y, Hu, J, Ming Chan, DT, Tong Leo Yeung, K, Chung Chan, DY & Liu, H 2024, Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy. in 2024 IEEE International Conference on Robotics and Automation (ICRA). Proceedings - IEEE International Conference on Robotics and Automation, IEEE, pp. 5906-5912, 2024 IEEE International Conference on Robotics and Automation (ICRA 2024), Yokohama, Japan, 13/05/24. https://doi.org/10.1109/ICRA57147.2024.10610302

Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy. / Chen, Jian; Chen, Mingcong; Zhao, Qingxiang et al.
2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2024. p. 5906-5912 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy

AU - Chen, Jian

AU - Chen, Mingcong

AU - Zhao, Qingxiang

AU - Wang, Shuai

AU - Wang, Yihe

AU - Xiao, Ying

AU - Hu, Jian

AU - Ming Chan, Danny Tat

AU - Tong Leo Yeung, Kam

AU - Chung Chan, David Yuen

AU - Liu, Hongbin

PY - 2024

Y1 - 2024

N2 - 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. © 2024 IEEE.

AB - 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. © 2024 IEEE.

UR - https://www.scopus.com/pages/publications/85202448732

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85202448732&origin=recordpage

U2 - 10.1109/ICRA57147.2024.10610302

DO - 10.1109/ICRA57147.2024.10610302

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 979-8-3503-8458-1

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 5906

EP - 5912

BT - 2024 IEEE International Conference on Robotics and Automation (ICRA)

PB - IEEE

T2 - 2024 IEEE International Conference on Robotics and Automation (ICRA 2024)

Y2 - 13 May 2024 through 17 May 2024

ER -

Chen J, Chen M, Zhao Q, Wang S, Wang Y, Xiao Y et al. Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy. In 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE. 2024. p. 5906-5912. (Proceedings - IEEE International Conference on Robotics and Automation). Epub 2024 Aug 8. doi: 10.1109/ICRA57147.2024.10610302

Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy

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