Accurate Estimation of Tip Force on Tendon-driven Catheters using Inverse Cosserat Rod Model

3D Curvature-Based Tip Load Estimation for Continuum Robots

“…For instance, in [17], the curvaturebased estimation is applied with a continuum robot constrained in planar motion yielding an interesting result because the obtained estimation error is approximately 10% of the applied force. The same order of estimation error is reported in [14] using real-time x-ray imaging and Bézier curve smoothing.…”

“…Indeed, the more advanced method [9] combines Bragg fibers as shape sensor and curvature-based method as the force estimator provides an accuracy ranging from 5.25% to 12.87% of the applied forces. On the other hand, the most relevant approaches reported in the literature using a vision method for the rod shape estimation and a curvature-based estimator [14] gives an accuracy of 7.5% of the applied forces.…”

“…Robots deformations are then more easily estimated by exteroceptive sensors. Among these sensors, one can imagine the use of magnetic sensors [12], cameras [13], X-ray imaging [14], optical-coherence tomography [15] as well as ultrasound imaging [16]. It is recognized that approaches that utilize a vision system may be easier to implement, more versatile, less constraining and more suitable for certain applications.…”

Tactile Perception for Growing Robots via Discrete Curvature Measurements

“…Touch localization methods have much in common with force estimation. Typically for force estimation on continuum robots, force is assumed to be applied at the tip [25][26] [27]. There are several methods that relax this constraint by assuming that both the force and the location are unknown [4][20] [28].…”

FBG-Based Estimation of External Forces Along Flexible Instrument Bodies

“…Back et al use shape information and a simplified Cosserat rod model which can be rapidly solved using an iterative optimization algorithm to estimate forces at the tip of a catheter (Back et al, 2015). Hooshiar et al estimate tip forces by employing Bezier spline shape approximations and an inverse Cosserat rod model (Hooshiar et al, 2020). Sadati et al employed force sensor readings at the base of a continuum appendage and the Cosserat rod model for tip load estimation (Sadati et al, 2020).…”