Anatomy-Aware Dexterity-Driven Design Optimization of Surgical Continuum Robots
Performing complex medical procedures with continuum robots requires careful selection of their geometric design parameters. The robot should have high dexterity in the specific anatomical environment of its procedure. This work presents a design optimization method that considers both dexterity and anatomy. We introduce the Reachable Volumetric Dexterous Solid Angle (RVDSA) metric as our objective, which measures the ability of a robot's end effector to reach the points in a goal volume from different directions via collision-free paths from a start configuration. We present a computationally efficient motion planner to compute this objective function for a given robotic design, and we u...
| Authors | Tony Qin, Peter Connor, Khoa Dang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 25 September 2026 |
| Last updated at source | 25 September 2026 |
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