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

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

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Author(s)

  • Jian 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

Related Research Unit(s)

Detail(s)

Original languageEnglish
Title of host publication2024 IEEE International Conference on Robotics and Automation (ICRA)
PublisherInstitute of Electrical and Electronics Engineers, Inc.
Pages5906-5912
ISBN (electronic)9798350384574
ISBN (print)979-8-3503-8458-1
Publication statusPublished - 2024

Publication series

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

Conference

Title2024 IEEE International Conference on Robotics and Automation (ICRA 2024)
Location
PlaceJapan
CityYokohama
Period13 - 17 May 2024

Link(s)

DOI

DOI
Check@CityULib
Link to Scopus https://www.scopus.com/record/display.uri?eid=2-s2.0-85202448732&origin=recordpage
Permanent Link https://scholars.cityu.edu.hk/en/publications/publication(52904790-2f1b-4631-91b1-1b3c2cd01096).html

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.

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Publication fingerprints text

100
design INIS
100
control INIS
100
hybrids INIS
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robots INIS
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biopsy INIS
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Visual Servo Contro... Keyphrases
100
Intraventricular Keyphrases
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Dual Segments Keyphrases
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Neurosurgical Robot Keyphrases
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Design Engineering
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Citation Format(s)

[ RIS ] [ BibTeX ]
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). Institute of Electrical and Electronics Engineers, Inc., 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