AsiaIndustrial NetNews: ICRA’s full name is “IEEE International Conference on Robotics and Automation” (RobotandautomationConference), is one of the most influential international academic conferences in the field of robotics. ICRA 2017 was held from May 29th to June 4th. Leifeng.com (public account: Leifeng.com) AI Technology Review brought first-line reports from Singapore. During the conference, Lei Feng.com will launch a series of special reports on the conference agenda and award-winning papers, so stay tuned.
Below is the paper abstract of the ICRA 2017 Best Medical Robotics finalist paper.
Efficient Proximity Query for Continuum Robots Based on Parallel Computing Hardware
Due to advances in the field of continuum robotics, surgical operators are increasingly able to access deep diseased tissue through complex pathways. In most cases, such robots can be accurately modeled as a series of cylindrical shapes. To safely and seamlessly remotely operate these robots with complex non-intuitive kinematics, researchers developed a tactile guidance scheme that relies on accurate proximity queries to calculate distances between continuum robots and anatomical structures. This paper presents a method to accurately simulate a continuum Robot that employs cylindrical segments with spherical or planar segments, and then efficiently computes the shortest distance to a triangular mesh. This paper provides an implementation of efficient analytical narrow-phase PQ computation for both simple and complex sets of primitives suitable for parallel computing hardware, as well as experimental verifications, which show that the method’s higher performance is suitable for real-time robotics applications. In computer experiments, the paper compares various root-finding algorithms used in PQ computations or other optimization tasks to evaluate their suitability for execution on different hardware. The implications of these experimental results are discussed with regard to choosing an appropriate proximity query algorithm based on available parallel computing hardware. Finally, prospects for future improvements in dense dynamic anatomy are presented.
This work presents an initial experimental validation of a systematic prosthetic control strategy for a custom compliant transfemoral prosthesis, culminating in high-performance three-dimensional (3D) multi-contact prosthetic walking. In particular, to capture an important component of a realistic amputation prosthetic system, the researchers developed a 3D asymmetric hybrid system model that forms the basis for gait design and control structures. Based on this model, a high-performance 3D multi-contact prosthetic gait was designed using a two-step direct juxtaposition optimization method. The gait of this design is also subject to a number of practical constraints, such as human similarity, and comfort constraints. For experimental validation, the researchers custom-built a powered femoral prosthetic device that could be modified to achieve the designed 3D gait. What differentiates the device from existing powered prostheses is the addition of compatible components to three joints (two pitch joints and one roll joint) for energy saving and human-like behavior. Combining the proposed control method with a novel hardware design, the final result is an experimental realization of 3D multi-contact prosthetic walking with improved energy efficiency compared to other devices and control methods.
This paper introduces a magnetically actuated soft capsule endoscope for fine-needle aspiration biopsy (B-MASCE) of the upper gastrointestinal tract. A thin, hollow needle is attached to the capsule and can penetrate deep into the tissue to obtain a subsurface biopsy sample. The design utilizes a soft elastomer as a flexible mechanism to guide the needle. Internal permanent magnets provide a means for actuation and tracking. The capsule is designed to roll towards its target, then deploys the biopsy needle at the precise location of the target area. B-MASCE is controlled by multiple custom-designed electromagnets, while its position and orientation are tracked by a magnetic sensing array. In in vitro tests, B-MASCE demonstrated rolling motion and biopsy of a porcine tissue model within an anatomical human stomach model. It was experimentally confirmed that the tissue sample was retained within the needle.
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