|Genetic Algorithm-based Discrete Continuum Robot Design Methodology for Transoral Slave Robotic System
Yeoun-Jae Kim, Jueun Choi, Jaesoon Choi, and Youngjin Moon*
International Journal of Control, Automation, and Systems, vol. 20, no. 10, pp.3361-3371, 2022
Abstract : Total unit number, unit length, and maximum bending angle of units are major design parameters in a discrete continuum robot. In this paper, a discrete continuum robot design methodology is suggested to determine the major design parameters for the transoral robotic surgery using a genetic algorithm (GA) based parameter optimization. If the transoral passage of a patient is reconstructed, a transoral passage-optimized discrete continuum robot can be designed using the proposed design methodology. In the proposed design methodology, a unit with a ball-socket joint is chosen to satisfy the clinical design requirements of a transoral continuum robot; moreover, the kinematics of the section in the discrete continuum robot is analyzed. Using these results, a two-section tendondriven discrete continuum robot is designed to follow a reference transoral passage with minimal control effort by parametric optimization using a GA. The effectiveness of the proposed methodology is shown through an example using path trackability simulation and validation tests were performed to compare the design assumptions and real situations.
Continuum robot, design optimization, genetic algorithm, master-slave robotic system, tendon-driven actuation, transoral passage, transoral surgery.