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Main Authors:	Chen, Jian, Chen, Mingcong, Zhao, Qingxiang, Wang, Shuai, Wang, Yihe, Xiao, Ying, Hu, Jian, Chan, Danny Tat Ming, Yeung, Kam Tong Leo, Chan, David Yuen Chung, Liu, Hongbin
Format:	Preprint
Published:	2024
Subjects:	Robotics Systems and Control
Online Access:	https://arxiv.org/abs/2402.09679
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author	Chen, Jian Chen, Mingcong Zhao, Qingxiang Wang, Shuai Wang, Yihe Xiao, Ying Hu, Jian Chan, Danny Tat Ming Yeung, Kam Tong Leo Chan, David Yuen Chung Liu, Hongbin
author_facet	Chen, Jian Chen, Mingcong Zhao, Qingxiang Wang, Shuai Wang, Yihe Xiao, Ying Hu, Jian Chan, Danny Tat Ming Yeung, Kam Tong Leo Chan, David Yuen Chung Liu, Hongbin
contents	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.
format	Preprint
id	arxiv_https___arxiv_org_abs_2402_09679
institution	arXiv
publishDate	2024
record_format	arxiv
spellingShingle	Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy Chen, Jian Chen, Mingcong Zhao, Qingxiang Wang, Shuai Wang, Yihe Xiao, Ying Hu, Jian Chan, Danny Tat Ming Yeung, Kam Tong Leo Chan, David Yuen Chung Liu, Hongbin Robotics Systems and Control 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.
title	Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy
topic	Robotics Systems and Control
url	https://arxiv.org/abs/2402.09679

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