| dc.description.abstract | Conventional rigid-link robots have become ubiquitous in many industries, expanding and even surpassing human capabilities in terms of precision, repeatability, and endurance. However, these robots are not well suited for applications that require navigation of complex curvilinear pathways, deep reach within a confined space, or safe human-robot interaction. Continuum robots are a newer class of robots that mimic soft biological actuators (e.g.: snake, elephant trunk). Their distal actuation and high dexterity enables them to perform navigation and manipulation tasks that are too complex for conventional robots. Their inherent structural compliance also makes them well suited for safe interactions with human anatomy. This dissertation explores the use of continuum robots in two applications: “collaborative manufacturing in confined spaces” and “neuroendovascular surgery”. These applications span a wide range of size requirements and share the need for continuum robots augmented with robot perception, situational awareness, and adaptable behaviors. First, we present the design and kinematic analysis of continuum robots that can actively control their diameters and use this degree of redundancy to adapt their geometry for optimized task execution. Next, we present novel multi-modal sensing units that integrate into the structure of continuum robots and endow them with mapping, contact detection and localization, and force sensing capabilities for safe human-robot interaction in confined spaces. We then present the design, calibration, and close-loop control of multi-articulated microcatheters, enhanced with passive and active compliance features for safe clinical use. We propose algorithms for anatomy-specific path planning and design optimization of these catheters. We also present the bi-plane fluoroscopy image segmentation and tracking of these microcatheters. Finally, this dissertation investigates pulsatile pressure excitation as a possible extrinsic sensing method for catheter-clot proximity during stroke intervention. We believe that the contributions in design, sensing, path-planning, and robot situational awareness presented in this dissertation will expand the use of continuum robots in confined spaces, both at the macro scale and the sub-millimeter scale. | |
