Uploaded June 2015 | Updated September 2026, 1 hour ago
This talk was given by undergraduate Cenk Baykal during the 8th Annual Computer Science Undergraduate Research Symposium in 2014. Cenk‘s research was supervised by Dr. Ron Alterovitz and doctoral student Luis Torres.
"User Interface and Design Optimization for Concentric Tube Robots"
Concentric tube robots have the potential to enable novel, minimally invasive surgical procedures. These medical robots are capable of traveling curvilinear paths, maneuvering around anatomical obstacles, reaching targets in tight spaces. Concentric tube robots are composed of customizable, pre-curved tubes that the user can independently rotate and extend to achieve tentacle-like motion. The pre-curvatures and lengths of the tubes have a significant impact on the robot’s maneuverability and effectiveness in performing a surgical task. Moreover, operating these robots is hard due to their complex and unintuitive kinematics. In this presentation, we demonstrate a user interface that utilizes a novel motion planning method to compute collision-free motion plans for the concentric tube robot. The user interface allows the surgeon to continuously and freely drive the robot’s tip via a 3D input device while the planner ensures the robot’s shaft does not collide with any anatomical obstacles. Furthermore, we present our preliminary work on the optimization of the robot’s design on a patient- and application-specific basis.
Cenk Baykal is a junior undergraduate student majoring in computer science and mathematics. He is fascinated by multidisciplinary research fields in computer science, such as robotics and artificial intelligence. He is especially enthusiastic about mathematically-oriented research in motion planning and optimization. After his undergraduate education, Cenk hopes to pursue graduate studies in computer science.
This talk was given by undergraduate Cenk Baykal during the 8th Annual Computer Science Undergraduate Research Symposium in 2014. Cenk‘s research was supervised by Dr. Ron Alterovitz and doctoral student Luis Torres.
"User Interface and Design Optimization for Concentric Tube Robots"
Concentric tube robots have the potential to enable novel, minimally invasive surgical procedures. These medical robots are capable of traveling curvilinear paths, maneuvering around anatomical obstacles, reaching targets in tight spaces. Concentric tube robots are composed of customizable, pre-curved tubes that the user can independently rotate and extend to achieve tentacle-like motion. The pre-curvatures and lengths of the tubes have a significant impact on the robot’s maneuverability and effectiveness in performing a surgical task. Moreover, operating these robots is hard due to their complex and unintuitive kinematics. In this presentation, we demonstrate a user interface that utilizes a novel motion planning method to compute collision-free motion plans for the concentric tube robot. The user interface allows the surgeon to continuously and freely drive the robot’s tip via a 3D input device while the planner ensures the robot’s shaft does not collide with any anatomical obstacles. Furthermore, we present our preliminary work on the optimization of the robot’s design on a patient- and application-specific basis.
Cenk Baykal is a junior undergraduate student majoring in computer science and mathematics. He is fascinated by multidisciplinary research fields in computer science, such as robotics and artificial intelligence. He is especially enthusiastic about mathematically-oriented research in motion planning and optimization. After his undergraduate education, Cenk hopes to pursue graduate studies in computer science.
