Simulating And Optimizing Active Endoscope Prototypes

Our work addresses on the global design of an active multi-link micro-catheter, provided with Shape Memory Alloy (SMA) micro actuators, which is developed in collaboration with the Laboratoire de Robotique de Paris. This constitutes our response to one medical major demand on such devices which will be usefull for surgical explorations and interventions. In this paper, we focus on simulation and optimization tools, based on an original simulation platform (OpenMASK), aiming at better designing such a catheter. The prototype model is evaluated by a dynamical simulation of the robotic system during the realization of a navigation task in its environment. A special focus is put on the mechanical model and on the interactions capabilities, such as contact, in a real medical data base for which a distance cartography is proposed. An autonomous control model, including a behavior description of the SMA actuators, is described and the efficiency of a multi-agent command, controlling the catheter conformation, is proved by some results of mechanical simulations including interaction with the ducts. Furthermore, the interest of such a simulator is presented by applying virtual prototyping techniques for the design optimization. This optimization process is achieved by using genetic algorithms at different stages with respect to the specified task.