让柔性机器人在人体狭窄通道中安全导航，避免危险接触。
Contact-Aware Planning and Control of Continuum Robots in Highly Constrained Environments
- 根据接触质量评估优劣，只允许安全接触，禁止危险接触。
- 实测成功率100%，平均跟踪误差小于2毫米。
- 适合医疗手术机器人、微创介入等高精度场景。
连续体机器人适用于血管或管腔等狭窄脆弱环境的导航，但与周围结构的接触往往不可避免。虽然可控接触可辅助运动，但不良接触会降低可控性、引发奇异性或带来安全风险。本文提出一种接触感知规划方法，可评估接触质量，惩罚危险交互，同时允许良性接触。该方法生成运动学可行轨迹及接触感知雅可比矩阵，用于闭环控制硬件实验。通过患者扫描数据构建的解剖模型验证，系统在三种典型解剖环境中均成功抵达目标，且无危险尖端接触（成功率100%）。各环境平均跟踪误差分别为1.9±0.5 mm、1.2±0.1 mm、1.7±0.2 mm。消融实验表明，对末端段接触进行惩罚可提升操作能力并防止硬件故障。本工作实现了高约束环境下可靠的接触感知导航。
原文摘要 · Abstract (English)
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion, unfavorable contact can degrade controllability, induce kinematic singularities, or introduce safety risks. We present a contact-aware planning approach that evaluates contact quality, penalizing hazardous interactions, while permitting benign contact. The planner produces kinematically feasible trajectories and contact-aware Jacobians which can be used for closed-loop control in hardware experiments. We validate the approach by testing the integrated system (planning, control, and mechanical design) on anatomical models from patient scans. The planner generates effective plans for three common anatomical environments, and, in all hardware trials, the continuum robot was able to reach the target while avoiding dangerous tip contact (100% success). Mean tracking errors were 1.9 +/- 0.5 mm, 1.2 +/- 0.1 mm, and 1.7 +/- 0.2 mm across the three different environments. Ablation studies showed that penalizing end-of-continuum-segment (ECS) contact improved manipulability and prevented hardware failures. Overall, this work enables reliable, contact-aware navigation in highly constrained environments.
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