On using an array of fiber Bragg grating sensors for closed-loop control of flexible minimally invasive surgical instruments

Roesthuis, Roy J.; Janssen, Sander; Misra, Sarthak

doi:10.1109/iros.2013.6696715

Cited by 63 publications

(58 citation statements)

References 22 publications

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“…Groom et al showed these methods on cadavers for a vocal fold surgery application [57]. Fiber-Bragg gratings have recently been investigated as a sub-millimeter full-configuration sensor [58][59][60], and while bench-top testing has shown reasonable success, these technologies can be sensitive to environmental conditions such as temperature, are fragile, and drift, resulting in unaccounted and integrated errors. Visual methods such as fluoroscopy provides an image of the robot configuration that can reduce errors from a model-based controller [61] but at the cost of radiation.…”

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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“…The FBG sensors have been used for reconstruction of needle shape during insertion into soft-tissue phantoms, and for shape reconstruction of a tendon-driven continuum manipulator in free-space [18], [19]. Strain measurements from at least 3 co-located FBG sensors are required in order to calculate the magnitude ( κ ) and direction (ϕ) of the curvature vector at a specific location (s k , k ∈ Z + ) along the manipulator shaft ( Figure 2).…”

Section: Shape Reconstructionmentioning

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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“…FBGs, are gaining interest as shape sensor technology. Although FBG shape sensors can provide accurate and fast shape measurements of continuum robots, their integration with small and flexible robots remains a challenge [9], [10]. Vision-based sensing can provide A. Vandini, C. Bergeles, F.-Y.…”

Section: Introductionmentioning

confidence: 99%

Vision-based intraoperative shape sensing of concentric tube robots

Vandini

Bergeles

Lin

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Concentric tube robots have shown promise for minimally invasive surgical (MIS) tasks that require navigation via tortuous anatomical paths. Despite extensive research on their kinematic and dynamic modelling, however, inaccuracies and deformations of their shape due to unknown loads and collisions with the anatomy make intraoperative shape sensing a requirement. This paper presents a vision-based shape-sensing algorithm for concentric tube robots. The proposed algorithm fuses information extracted from a standard imaging modality, monoplane X-ray fluoroscopy, with the kinematics model of the concentric tube robot, to achieve automatic, real-time, accurate and continuous robot-shape estimations despite kinematics' noise and unmodelled forces. Fusion is performed by a fast 2D/3D non-rigid registration, which combines kinematics and intraoperative tracking of the robot. Extensive simulations with a range of noise models and virtual loads acting on the robot, and experimental evaluation in air and in a skull phantom, demonstrate the clinical value of the proposed technique 1 .

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On using an array of fiber Bragg grating sensors for closed-loop control of flexible minimally invasive surgical instruments

Cited by 63 publications

References 22 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

Vision-based intraoperative shape sensing of concentric tube robots

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