Compliant Motion Control for Multisegment Continuum Robots With Actuation Force Sensing

Goldman, Roger E.; Bajo, Andrea; Simaan, Nabil

doi:10.1109/tro.2014.2309835

Cited by 105 publications

(61 citation statements)

References 32 publications

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“…Some of these methods have been extended to not only regulate position of the end-effector but also end-effector forces. These methods rely on measured deflections from the estimated positions, given by an underlying mechanics model, to translate to forces [41,[44][45][46][47]. Effects of internal friction and tendon dead-zones also complicate the system and produce nonlinear effects.…”

Section: State-of-artmentioning

confidence: 99%

Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks

Yip

Sganga

Camarillo

2017

J. Med. Robot. Res.

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Continuum manipulators enable minimally-invasive surgery on the beating heart, but the challenges involved in manually controlling the manipulator's tip position and contact force with the tissue result in failed procedures and complications. The objective of this work is to achieve autonomous robotic control of a continuum manipulator's position and force in a beating heart model. We present a model-less hybrid control approach that regulates the tip position/force of manipulators with unknown kinematics/ mechanics, under unknown constraints along the manipulator's body. The algorithms estimate the Jacobian in the presence of heartbeat disturbances and sensor noise in real time, enabling closed-loop control. Using this model-less control approach, a robotic catheter autonomously traced clinically relevant paths on a simulated beating heart environment while regulating contact force. A gating procedure is used to tighten the treatment margins and improve precision. Experimental results demonstrate the capabilities of the robot (1:4 AE 1:1 mm-1:9 AE 1:4 mm tracking error) while user demonstrations show the difficulty of manually performing the same task (2:6 AE 2:0 mm-4:3 AE 3:9 mm tracking error). This new, robotically-enabled contiguous ablation method could reduce ablation path discontinuities, improve consistency of treatment, and therefore improve clinical outcomes.

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Section: State-of-artmentioning

confidence: 99%

Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks

Yip

Sganga

Camarillo

2017

J. Med. Robot. Res.

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“…An approximate model of the compliance matrix of the continuum manipulator is available, the force control-loop rate is adequate and the interaction force at the operational point of the robot is not sufficiently large to cause large deformations of the continuum structure. This assumption was verified in Goldman et al (2014). Figure 1 shows a one segment multi-backbone continuum robot mounted on a linear stage capable of controlling insertion depth q ins along the b z 0 -axis of the world frame.…”

Section: Assumptionsmentioning

confidence: 80%

“…where the stiffness is given by the Jacobian of the components of the generalized force associated with the continuum robot with respect to its configuration space perturbation as described in Goldman et al (2014). The robot's actuation lines stretch and compress due to their inherent flexibility.…”

Section: Modeling Of the Multi-backbone Continuum Robotmentioning

confidence: 99%

“…In Lock and Dupont (2011), the authors proposed a method for friction estimation and compensation in concentric tube robots. In Goldman et al (2014), the authors used a nonlinear regression via support vector regressors to compensate for lumped uncertainties in multi-backbone, multi-segment continuum robots. In this work, we experimentally evaluated uncertainties vector l across the robot's workspace and populated a lookup table for real-time control.…”

Section: Compensation Of Uncertaintiesmentioning

confidence: 99%

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Hybrid motion/force control of multi-backbone continuum robots

Bajo

Simaan

2015

The International Journal of Robotics Research

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128

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The recent growth of surgical applications exploiting continuum robots demands for new control paradigms that ensure safety by controlling interaction forces of tele-operated end-effectors. In this paper, we present the modeling, sensing and control of multi-backbone continuum robots in a unified framework for hybrid motion/force control. Multi-backbone continuum robots allow to estimate forces and torques at the operational point by monitoring loads along their actuation lines without the need for a dedicated transducer at the operational point. This capability is indeed crucial in emerging fields such as robotic surgery where cost and strict sterilization guidelines prevent the adoption of a dedicated sensor to provide force feedback from the sterile field. To advance further the force sensing capabilities of multi-backbone continuum robots, we present a new framework for hybrid motion and force control of continuum robots with intrinsic force sensing capabilities. The framework is based on a kinetostatic modeling of the multi-backbone continuum robot with, a simplified model for online estimate of the manipulator's compliance, and a new strategy for merging force and motion control laws in the configuration space of the manipulator. Experimental results show the ability to sense and regulate forces at the operational point and evaluate the framework for shape exploration and stiffness imaging in flexible environments.

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“…Other approaches [6][7][8][9] use a series of super elastic NiTi alloys as backbone of continuum robots to enable enhanced articulation capabilities. Commonly, on these designs, one NiTi alloy rod is located at the centre of a succession of the disks that are actuated by cables to provide the bending of the continuum robots [10].…”

mentioning

confidence: 99%

Development of a slender continuum robotic system for on-wing inspection/repair of gas turbine engines

Dong

Axinte

Palmer

et al. 2017

Robotics and Computer-Integrated Manufacturing

206

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Abstract-The maintenance works (e.g. inspection, repair) of aero-engines while still attached on the airframes requires a desirable approach since this can significantly shorten both the time and cost of such interventions as the aerospace industry commonly operates based on the generic concept "power by the hour". However, navigating and performing a multi-axis movement of an end-effector in a very constrained environment such as gas turbine engines is a challenging task. This paper reports on the development of a highly flexible slender (i.e. low diameter-to-length ratios) continuum robot of 25 degrees of freedom capable to uncoil from a drum to provide the feeding motion needed to navigate into crammed environments and then perform, with its last 6 DoF, complex trajectories with a camera equipped machining end-effector for allowing in-situ interventions at a low-pressure compressor of a gas turbine engine. This continuum robot is a compact system and presents a set of innovative mechatronics solutions such as: (i) twin commanding cables to minimise the number of actuators; (ii) twin compliant joints to enable large bending angles (±90deg) arranged on a tapered structure (start from 40mm to 13mm at its end); (iii) feeding motion provided by a rotating drum for coiling/uncoiling the continuum robot; (iv) machining end-effector equipped with vision system. To be able to achieve the in-situ maintenance tasks, a set of innovative control algorithms to enable the navigation and end-effector path generation have been developed and implemented. Finally, the continuum robot has been tested both for navigation and movement of the end-effector against a specified target within a gas turbine engine mock-up proving that: (i) max. deviations in navigation from the desired path (1000mm length with bends between 45° and 90°) are ±10 mm; (ii) max. errors in positioning the end-effector against a target situated at the end of navigation path is 1 mm. Thus, this paper presents a compact continuum robot that could be considered as a step forward in providing aero-engine manufacturers with a solution to perform complex tasks in an invasive manner.

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Compliant Motion Control for Multisegment Continuum Robots With Actuation Force Sensing

Cited by 105 publications

References 32 publications

Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks

Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks

Hybrid motion/force control of multi-backbone continuum robots

Development of a slender continuum robotic system for on-wing inspection/repair of gas turbine engines

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