Analytical Tip Force Estimation on Tendon-driven Catheters Through Inverse Solution of Cosserat Rod Model

Hooshiar, Amir; Sayadi, Amir; Jolaei, Mohammad; Dargahi, Javad

doi:10.1109/iros51168.2021.9636560

Cited by 11 publications

(3 citation statements)

References 18 publications

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“…For a comprehensive study on the modeling of continuum robots, see [25,26]. [23] Cosserat Linear × × 7% Wang et al [27] Cosserat Linear × -Dou et al [28] Euler-Bernoulli Linear × Less than 8% Huang et al [29] Variable Curvature Linear × × 2.89% Niu et al [30] Cosserat Linear × × Less than 4% Ghoreishi et al [31] Euler-Bernoulli Linear × -Li et al [32] Cosserat Linear × Less than 5% Caasenbrood et al [33] Piece-wise Constant Curvature Non-Linear × RMS error was ±0.55…”

Section: Related Studiesmentioning

confidence: 99%

“…Although integrating Finite Element Analysis (FEA) with PCC can enhance the kinematic model of soft robots [ 21 ], this remains a computationally expensive approach, limiting its practicality for real-time applications. As an alternative, recent literature has suggested modeling soft robots as one-dimensional slender objects based on the Cosserat rod model [ 22 , 23 ]. This approach allows the effects of gravity, torsion, and external loads to be incorporated and simplifies the model derivation process [ 10 ], treating small and large deformations of soft robots with a unified formulation.…”

Section: Introductionmentioning

confidence: 99%

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Hyperelastic Modeling and Validation of Hybrid-Actuated Soft Robot with Pressure-Stiffening

et al. 2023

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Soft robots have gained popularity, especially in intraluminal applications, because their soft bodies make them safer for surgical interventions than flexures with rigid backbones. This study investigates a pressure-regulating stiffness tendon-driven soft robot and provides a continuum mechanics model for it towards using that in adaptive stiffness applications. To this end, first, a central single-chamber pneumatic and tri-tendon-driven soft robot was designed and fabricated. Afterward, the classic Cosserat’s rod model was adopted and augmented with the hyperelastic material model. The model was then formulated as a boundary-value problem and was solved using the shooting method. To identify the pressure-stiffening effect, a parameter-identification problem was formulated to identify the relationship between the flexural rigidity of the soft robot and internal pressure. The flexural rigidity of the robot at various pressures was optimized to match theoretical deformation and experiments. The theoretical findings of arbitrary pressures were then compared with the experiment for validation. The internal chamber pressure was in the range of 0 to 40 kPa and the tendon tensions were in the range of 0 to 3 N. The theoretical and experimental findings were in fair agreement for tip displacement with a maximum error of 6.40% of the flexure’s length.

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Section: Related Studiesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Hyperelastic Modeling and Validation of Hybrid-Actuated Soft Robot with Pressure-Stiffening

et al. 2023

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“…While recent research has focused on the inverse approach for force estimation [24,25] to provide surgeons with haptic feedback, forward dynamic models are essential for modeling and developing soft robot designs and control schemes, as well as studying dynamic events like catheterization in real-world scenarios. In surgical interventions, accounting for sudden dynamic movements is crucial, even when the system exhibits minimal inertia effects and acceleration.…”

Section: Hybrid-actuated Soft Robotsmentioning

confidence: 99%

Cosserat Rod-Based Dynamic Modeling of a Hybrid-Actuated Soft Robot for Robot-Assisted Cardiac Ablation

Roshanfar,

Dargahi,

Hooshiar

2023

Actuators

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Soft robotics has emerged as a promising field due to the unique characteristics offered by compliant and flexible structures. Overcoming the challenge of precise position control is crucial in the development of such systems that require accurate modeling of soft robots. In response, a hybrid-actuated soft robot employing both air pressure and tendons was proposed, modeled, and validated using the dynamic Cosserat rod theory. This approach comprehensively addresses various aspects of deformation, including bending, torsion, shear, and extension. The designed robot was intended for robot-assisted cardiac ablation, a minimally invasive procedure that is used to treat cardiac arrhythmias. Within the framework of the Cosserat model, dynamic equations were discretized over time, and ordinary differential equations (ODEs) were solved at each time step. These equations of motion facilitated the prediction of the robot’s response to different control inputs, such as the air pressure and tension applied to the tendons. Experimental studies were conducted on a physical prototype to examine the accuracy of the model. The experiments covered a tension range of 0 to 3 N for each tendon and an air pressure range of 0 to 40 kPa for the central chamber. The results confirmed the accuracy of the model, demonstrating that the dynamic equations successfully predicted the robot’s motion in response to diverse control inputs.

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Model-free and Vision-based Contact Force Control of Interventional Catheters

Khodashenas,

Dargahi

2023

2023 3rd International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME)

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Analytical Tip Force Estimation on Tendon-driven Catheters Through Inverse Solution of Cosserat Rod Model

Cited by 11 publications

References 18 publications

Hyperelastic Modeling and Validation of Hybrid-Actuated Soft Robot with Pressure-Stiffening

Hyperelastic Modeling and Validation of Hybrid-Actuated Soft Robot with Pressure-Stiffening

Cosserat Rod-Based Dynamic Modeling of a Hybrid-Actuated Soft Robot for Robot-Assisted Cardiac Ablation

Model-free and Vision-based Contact Force Control of Interventional Catheters

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