CTR Design Optimization

Sep 2, 2024 · 1 min read

Concentric tube robots have a large number of design variables, which is often reduced in order for design optimization problems to be tractable by gradient-free approaches. However, this reduces the design space of the robots, which can lead to sub-optimal results. To overcome those limitations, we propose a design optimization problem formulation compatible with grandient-based methods, allowing us to explore a larger design space.

Publications

Jui-Te Lin, Cédric Girerd, Benjamin T. Ostrander, Parsa Molaei, Hunter B. Gilbert, Philip A. Weissbrod, John T. Hwang, Tania K. Morimoto (2024). Closing the Loop on Concentric Tube Robot Design: A Case Study on Micro-Laryngeal Surgery. TBME.
PDF DOI
Ryan C. Dunn, Anugrah Jo Joshy, Jui-Te Lin, Cédric Girerd, Tania K. Morimoto, John T. Hwang (2023). Scalable enforcement of geometric non-interference constraints for gradient-based optimization. Optim Eng.
PDF DOI
Chibundo Nwafor, Cédric Girerd, Guillaume J. Laurent, Tania K. Morimoto, Kanty Rabenorosoa (2023). Design and Fabrication of Concentric Tube Robots: A Survey. TRO.
PDF Dataset DOI
Jui-Te Lin, Cédric Girerd, Jiayao Yan, John T. Hwang, Tania K. Morimoto (2022). A Generalized Framework for Concentric Tube Robot Design Using Gradient-Based Optimization. TRO.
PDF DOI

Continuum Robots Concentric Tube Robots
Cédric Girerd
Authors
Cédric Girerd
CNRS Researcher