Fast and adaptive fractal tree-based path planning for programmable bevel tip steerable needles

© 2016 IEEE. Steerable needles are a promising technology for minimally invasive surgery, as they can provide access to difficult to reach locations while avoiding delicate anatomical regions. However, due to the unpredictable tissue deformation associated with needle insertion and the complexity of many surgical scenarios, a real-time path planning algorithm with high update frequency would be advantageous. Real-time path planning for nonholonomic systems is commonly used in a broad variety of fields, ranging from aerospace to submarine navigation. In this letter, we propose to take advantage of the architecture of graphics processing units (GPUs) to apply fractal theory and thus parallelize real-time path planning computation. This novel approach, termed adaptive fractal trees (AFT), allows for the creation of a database of paths covering the entire domain, which are dense, invariant, procedurally produced, adaptable in size, and present a recursive structure. The generated cache of paths can in turn be analyzed in parallel to determine the most suitable path in a fraction of a second. The ability to cope with nonholonomic constraints, as well as constraints in the space of states of any complexity or number, is intrinsic to the AFT approach, rendering it highly versatile. Three-dimensional (3-D) simulations applied to needle steering in neurosurgery show that our approach can successfully compute paths in real-time, enabling complex brain navigation

Energy shaping control of soft continuum manipulators with in-plane disturbances

Soft continuum manipulators offer levels of compliance and inherent safety that can render thema superior alternative to conventional rigid robotsfor a variety of tasks, such as medical interventions or human-robot interaction. However, the ability of soft continuum manipulators to compensate external disturbances need to be further enhanced to meet the stringent requirements of many practical applications.In this paper, we investigate the control problem forsoft continuum manipulators that consist of one inextensible segmentof constant section, which bends under the effect of the internal pressure and is subject to unknown disturbances acting in the plane of bending. A rigid-link model of the manipulatorwith a single input pressureis employed for control purposes and an energy-shaping approach isproposedto derive thecontrol law. A method for the adaptive estimation of disturbances is detailed and a disturbance compensation strategy is proposed.Finally, the effectiveness of the controlleris demonstrated with simulations and with experiments on an inextensible soft continuum manipulator that employs pneumatic actuation

Kinematics of continuum robots with constant curvature bending and extension capabilities

Continuum robots are becoming increasingly popular due to the capabilities they offer, especially when operating in cluttered environments, where their dexterity, maneuverability, and compliance represent a significant advantage. The subset of continuum robots that also belong to the soft robots category has seen rapid development in recent years, showing great promise. However, despite the significant attention received by these devices, various aspects of their kinematics remain unresolved, limiting their adoption and obscuring their potential. In this paper, the kinematics of continuum robots with the ability to bend and extend are studied, and analytical, closed-form solutions to both the direct and inverse kinematics are presented. The results obtained expose the redundancies of these devices, which are subsequently explored. The solution to the inverse kinematics derived here is shown to provide an analytical, closed-form expression describing the curve associated with these redundancies, which is also presented and analyzed. A condition on the reachable end-effector poses for robots with six actuation degrees-of-freedom (DOFs) is then distilled. The kinematics of robot layouts with over six actuation DOFs are subsequently considered. Finally, simulated results of the inverse kinematics are provided, verifying the study

Development of a new, wireless acquisition system for EMATs compatible with the robotics operating system

The deployment of transducers to perform in situ inspections of industrial components can be complicated, and in many cases is still performed manually by a team of operators, which involves significant costs and can be dangerous. Robots capable of deploying probes in difficult to access locations are becoming available. Electromagnetic acoustic transducers (EMAT) are well suited to be used with robots since they are noncontact transducers that do not require a coupling medium, and can easily perform scans. However, existing acquisition systems for EMATs are generally not suitable to be directly mounted on robots. In this paper, a new wireless acquisition system for EMATs is presented. The system is standalone, it transmits the inspection data over WiFi, and is compatible with the robotics operating system (ROS). In addition, it is designed to be modular, small and lightweight so that it can be easily mounted on robots. The system design in terms of hardware and software is described in this paper. The resulting performance of the system is also reported

Nonlinear energy-based control of soft continuum pneumatic manipulators

This paper investigates the model-based nonlinear control of a class of soft continuum pneumatic manipulators that bend due to pressurization of their internal chambers and that operate in the presence of disturbances. A port-Hamiltonian formulation is employed to describe the closed loop system dynamics, which includes the pressure dynamics of the pneumatic actuation, and new nonlinear control laws are constructed with an energy-based approach. In particular, a multi-step design procedure is outlined for soft continuum manipulators operating on a plane and in 3D space. The resulting nonlinear control laws are combined with adaptive observers to compensate the effect of unknown disturbances and model uncertainties. Stability conditions are investigated with a Lyapunov approach, and the effect of the tuning parameters is discussed. For comparison purposes, a different control law constructed with a backstepping procedure is also presented. The effectiveness of the control strategy is demonstrated with simulations and with experiments on a prototype. To this end, a needle valve operated by a servo motor is employed instead of more sophisticated digital pressure regulators. The proposed controllers effectively regulate the tip rotation of the prototype, while preventing vibrations and compensating the effects of disturbances, and demonstrate improved performance compared to the backstepping alternative and to a PID algorithm

Visually encoded contact inspection system for EMATs

Contact inspections are commonly performed in industry to check for defects and degradation, such as corrosion or cracks. Non-destructive evaluation (NDE) probes are being deployed with increasing frequency using autonomous robots, especially in harsh environments or in areas where access is restricted and difficult. Together with the NDE measurement, it is important to capture the 3D position of the probe so that the location where the data originated is known. This allows for the generation of 3D maps of the inspection, which ensure full scan coverage, and can be used for inspection reports and to generate digital twins of the structure for asset management. In this paper, a full inspection system integrating a robot mountable stereo camera system together with an electromagnetic acoustic transducer (EMAT) probe and a wireless NDE data acquisition system is presented. The system is capable of capturing and merging 3D positional data of the probe as it is scanned and NDE data. The system design in terms of hardware and software is described in this paper. A set of tests to evaluate its performance on relevant structural components are also presented, and the results are reported and discussed

Cost-effectiveness of exercise referral schemes enhanced by self-management strategies to battle sedentary behaviour in older adults: Protocol for an economic evaluation alongside the SITLESS three-armed pragmatic randomised controlled trial

Introduction: Promoting physical activity (PA) and reducing sedentary behaviour (SB) may exert beneficial effects on the older adult population, improving behavioural, functional, health and psychosocial outcomes in addition to reducing health, social care and personal costs. This paper describes the planned economic evaluation of SITLESS, a multicountry three-armed pragmatic randomised controlled trial (RCT) which aims to assess the short-term and long-term effectiveness and cost-effectiveness of a complex intervention on SB and PA in community-dwelling older adults, based on exercise referral schemes enhanced by a group intervention providing self-management strategies to encourage lifestyle change. Methods and analysis: A within-trial economic evaluation and long-term model from both a National Health Service/personal social services perspective and a broader societal perspective will be undertaken alongside the SITLESS multinational RCT. Healthcare costs (hospitalisations, accident and emergency visits, appointment with health professionals) and social care costs (eg, community care) will be included in the economic evaluation. For the cost-utility analysis, quality-adjusted life-years will be measured using the EQ-5D-5L and capability well-being measured using the ICEpop CAPability measure for Older people (ICECAP-O) questionnaire. Other effectiveness outcomes (health related, behavioural, functional) will be incorporated into a cost-effectiveness analysis and cost-consequence analysis. The multinational nature of this RCT implies a hierarchical structure of the data and unobserved heterogeneity between clusters that needs to be adequately modelled with appropriate statistical and econometric techniques. In addition, a long-term population health economic model will be developed and will synthesise and extrapolate within-trial data with additional data extracted from the literature linking PA and SB outcomes with longer term health states. Methods guidance for population health economic evaluation will be adopted including the use of a long-time horizon, 1.5% discount rate for costs and benefits, cost consequence analysis framework and a multisector perspective. Ethics and dissemination: The study design was approved by the ethics and research committee of each intervention site: the Ethics and Research Committee of Ramon Llull University (reference number: 1314001P) (Fundació Blanquerna, Spain), the Regional Committees on Health Research Ethics for Southern Denmark (reference number: S-20150186) (University of Southern Denmark, Denmark), Office for Research Ethics Committees in Northern Ireland (ORECNI reference number: 16/NI/0185) (Queen’s University of Belfast) and the Ethical Review Board of Ulm University (reference number: 354/15) (Ulm, Germany). Participation is voluntary and all participants will be asked to sign informed consent before the start of the study. This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement number 634 270. This article reflects only the authors' view and the Commission is not responsible for any use that may be made of the information it contains. The findings of the study will be disseminated to different target groups (academia, policymakers, end users) through different means following the national ethical guidelines and the dissemination regulation of the Horizon 2020 funding agency. Use of the EuroQol was registered with the EuroQol Group in 2016. Use of the ICECAP-O was registered with the University of Birmingham in March 2017. Trial registration number: NCT02629666; Pre-results

Complete follow-the-leader kinematics using concentric tube robots

Concentric tube robots offer the capability of follow-the-leader motion, which is desirable when navigating in cluttered environments, such as in minimally invasive surgery or in-situ inspections. The follow-the-leader capabilities identified in the existing literature, however, are limited to trajectories with piecewise constant-curvature segments or piecewise helical segments. A complete study of follow-the-leader kinematics is, therefore, relevant to determine the full potential of these robots, and clarify an open question. In this paper, a general analysis of follow-the-leader motion is presented, and a closed-form solution to the complete set of trajectories where follow-the-leader is possible under the assumption of no axial torsion of the tubes composing the robot is derived. For designs with constant-stiffness tubes, the precurvatures required are found to be either circumference arcs, helices, or deformed helices with exponentially varying curvature magnitude. The analysis developed also elucidates additional motions of interest, such as the combination of follow-the-leader motion in a robot segment with general maneuvers in another part. To determine the applicability of the assumption regarding the tubes’ torsion, the general equilibrium of the robot designs of interest is considered, and a closed-form solution to torsion in two-tube robots with helical precurvatures is derived. Criteria to select a desired torsional behavior are then extracted. This enables one to identify stable trajectories where follow-the-leader is possible, for potential application to minimally invasive surgery. An illustrative case study involving simulation and experiment is conceived using one of these trajectories, and the results are reported, showcasing the research

Energy shaping control with integral action for soft continuum manipulators

This paper investigates the control problem for soft continuum manipulators that operate on a plane and that are subject to unknown disturbances. In general, soft continuum manipulators have more degrees-of-freedom than control inputs and are characterised by nonlinear dynamics. Thus, achieving high position accuracy with these systems in the presence of disturbances is a challenging task. In this paper we present the design of a new partial-state feedback controller by using the port-Hamiltonian formulation and we develop a variation of the Integral Interconnection and Damping Assignment Passivity Based Control methodology for a class of soft continuum manipulators. The system dynamics on the bending plane is described by using a rigid-link underactuated model with elastic virtual joints. The proposed control law regulates the tip rotation to the desired value while compensating unmodelled disturbances and only depends on the tip rotation, which is measurable, hence it is implementable. The effectiveness of the controller is demonstrated with simulations and with experiments on a soft continuum manipulator prototype that employs pneumatic actuation

Multifilament pneumatic artificial muscles to mimic the human neck

Pneumatic Artificial Muscles (PAMs) are actuators that resemble human muscles, and offer an attractive performance in various aspects including robustness, simplicity, high specific power and high force for a given volume. These characteristics render them good candidates for use in humanoid robots. The use of traditional PAMs to closely mimic human structures, however, is difficult due to their relatively large size and relatively fixed designs. The recent development of multifilament PAMs enables the realization of humanoid robots that more closely mimic the human anatomy. In this paper, the application of multifilament PAMs to mimic the human neck is presented. First, the main structures of the human neck anatomy in terms of bones, ligaments and muscles are identified and detailed. The design to mimic each of these structures is subsequently described, together with the most relevant parts of the manufacturing process. The integrated neck is then presented, and the method to actuate it is outlined. The results of motion of the artificial neck when actuating different groups of muscles that mimic those in the human anatomy are reported, confirming a motion that is equivalent to that of the human neck. The results also indicate a range of motion of the robot neck somewhat lower than that of its human counterpart, and the reasons for this are discussed. Finally, future directions for improved motion range, stability, durability and efficiency are outlined