Genetic Algorithm-based Discrete Continuum Robot Design Methodology for Transoral Slave Robotic System

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 tendon-driven 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.