Deflection-based force sensing for continuum robots: A probabilistic approach

Rucker, D. Caleb; Webster,

doi:10.1109/iros.2011.6048202

Cited by 16 publications

(13 citation statements)

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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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“…For example, Xu and Simaan presented a method that used the deflected shape of the manipulator shaft to estimate the force at the tip [6], [7]. Rucker and Webster estimated the tip force by using pose measurements and a kinematic static model of the continuum manipulator with measurement uncertainty [8]. They described the tip force as a state of the system, and an extended Kalman filter was used to estimate the system states from the noisy end-effector pose measurements.…”

Section: Introductionmentioning

confidence: 99%

Force sensing in continuum manipulators using fiber Bragg grating sensors

Khan

Roesthuis

Misra

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-The presence of force feedback in medical instruments has been proven to reduce tissue damage. In order to provide force feedback, information about the interaction forces between the instrument and the environment must be known. Direct measurement of these forces by commercial sensors is not feasible due to space limitations. Thus, in this study we propose to estimate the interaction forces using strain measurements from Fiber Bragg Grating (FBG) sensors. These measurements can also be used for shape sensing and as a result both force and shape can be sensed simultaneously. For force sensing two models are proposed and compared. The first is based on a Rigid Link approximation, while the second uses the Cosserat rod theory. The models are validated experimentally using a tendon-driven continuum manipulator that is subjected to forces at the tip. The force estimates from the models are compared to the measurements from a commercial force sensor. Mean absolute errors of 11.2 mN (6.9%) and 15.9 mN (8.3%) are observed for the Rigid Link model and Cosserat model, respectively.

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“…While this issue is not critical in multi-port MIS, it is highly important in NOTES, SPA and intraluminal surgery where the visual perception barriers are even stricter. There have been some recent results in obtaining indirect estimation of forces on continuum and surgical robots [86,76,138,139,140] or using direct sensing via miniature force sensors [73,141]. However, these exploratory solutions have not made it into clinical practice either due to cost and sterilization limitations of ded-icated sensory technology or because of complexity of the indirect force estimation algorithms and the uncertainty encumbered in modeling and accounting for friction.…”

Section: Challenges and Open Problems In Robotics For Mis Spa And Notesmentioning

confidence: 99%

Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics

Simaan

Yasin

Wang

2018

Annu. Rev. Control Robot. Auton. Syst.

154

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Emerging paradigms furthering the reach of medical technology deeper into human anatomy present unique modeling, control and sensing problems. This paper discusses a brief history of medical robotics leading to the current trend of minimally invasive intervention and diagnostics in confined spaces. Robotics for natural orifice and single port access surgery, capsule and magnetically actuated robotics and microrobotics are discussed with the aim of elucidating the state of the art. Works on modeling, sensing and control of mechanical architectures of robots for natural orifice and single port access surgery are discussed, followed by a presentation of works on magnetic actuation, sensing and localization for capsule robotics and microrobotics. Finally challenges and open problems in each one of these areas are presented.

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Deflection-based force sensing for continuum robots: A probabilistic approach

Cited by 16 publications

References 0 publications

Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks

Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks

Force sensing in continuum manipulators using fiber Bragg grating sensors

Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics

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