Intelligent design assistance for personalized medical surgery based on concentric tube continuum robots

Prof. Dr. Kathrin Flaßkamp (Saarbrücken)
Prof. Dr.-Ing. Thomas Sattel (Ilmenau)

ConcentricTube Robots

A photogrammetric measurement system can provide data of markers on the robot’s backbone
Schematic of a three-tube concentric tube robot
Computer-controlled actuation system for a concentric tube robot

Work plan of our project

Key methods

  • Data-based enhancement of physical models
  • Multi-objective optimization with combined genetic/classical algorithms
  • Learning of Pareto sets

How can we support other projects?

  • Motion data of concentric tube continuum robot (from photogrammetric system)
  • Multiobjective optimization methods (knowledge and software)
  • In future: KI-methods for (sub)modules, for inverse problems, etc

How could other projects support our work?

  • Exchange on physics-based machine learning approaches
  • Exchange on hybrid techniques for multiobjective optimization
  • In future: other cases (data, model) evaluate generalization or methods

Modules contributing to a holistic design assistant:

  • Physics-based learning.
    • Learned hysteresis effect.
  • Multiobjective optimization methods.
    •  Hybird (i.e. combined genetic and classical) methods.
  •  Machine learning for inverse multiobjective optimization problems.
  •  Benchmark problem: design assistant for surgery with concentric tube robots, e.g. deep brain neurosurgery.


Prof. Dr. Kathrin Flaßkamp
Universität des Saarlandes
66123 Saarbrücken
Tel.: +49 681 302 4416 (Sekretariat)

Further Information

Prof. Dr.-Ing. Thomas Sattel
Technische Universität Ilmenau
Max-Planck-Ring 12
98693 Ilmenau
Werner-Bischoff-Bau / Raum 2120
Tel.: +49 3677 692486

Further Information

To the top of the page