Position control of concentric-tube continuum robots using a modified Jacobian-based approach

Xu, Ruidong; Asadian, Ali; Naidu, Anish S.; Patel, Rajni V.

doi:10.1109/icra.2013.6631413

Cited by 54 publications

(50 citation statements)

References 10 publications

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“…Accordingly, they have limited utility in visually occluded workspaces. Electromagnetic tracking systems [29,23] avoid these occlusion problems but have smaller workspaces. Radio Frequency systems may have vast workspaces but limited accuracy [30].…”

Section: Introductionmentioning

confidence: 99%

An Inductance-Based Sensing System for Bellows-Driven Continuum Joints in Soft Robots

Felt¹,

Telleria

Allen

et al. 2017

Robotics: Science and Systems XIII

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Abstract-In this work we present a novel, inductance-based system to measure and control the motion of bellows-driven continuum joints in soft robots. The sensing system relies on coils of wire wrapped around the minor diameters of each bellows on the joint. As the bellows extend, these coils of wire become more distant, decreasing their mutual inductance. Measuring this change in mutual inductance allows us to measure the motion of the joint. By dividing the sensing of the joint into two sections and measuring the motion of each section independently, we are able to measure the overall deformation of the joint with a piecewise constant-curvature approximation. This technique allows us to measure lateral displacements that would be otherwise unobservable. When measuring bending, the inductance sensors measured the joint orientation with an RMS error of 1.1• . The inductance sensors were also successfully used as feedback to control the orientation of the joint. The sensors proposed and tested in this work provided accurate motion feedback that would be difficult to achieve robustly with other sensors. This sensing system enables the creation of robust, self-sensing, and soft robots based on bellows-driven continuum joints.

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Section: Introductionmentioning

confidence: 99%

An Inductance-Based Sensing System for Bellows-Driven Continuum Joints in Soft Robots

Felt¹,

Telleria

Allen

et al. 2017

Robotics: Science and Systems XIII

View full text Add to dashboard Cite

show abstract

“…The kinematic models are currently based on boundary value problems, solving differential equations iteratively [12] which is computationally intensive [15], [16]. Using the torsionally compliant model the Jacobian has to be determined numerically [17].…”

Section: Kinematicsmentioning

confidence: 99%

“…Concentric tube robots are used to navigate through complex, convoluted and difficult to reach anatomy [14], [15], [17]. Active Constraints and virtual fixtures have proven to give guidance to the surgeon in those scenarios [?…”

Section: A Forbidden Region Constraintsmentioning

confidence: 99%

On-line collision-free inverse kinematics with frictional active constraints for effective control of unstable concentric tube robots

Leibrandt

Bergeles

Yang

2015

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

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Abstract-Concentric tube robots are catheter-sized robots that can navigate natural pathways to reach deep anatomical locations. Their intraoperative telemanipulation in dynamic environments requires on-line computation of inverse kinematics with simultaneous avoidance of anatomical collisions. Moreover, unstable configurations, which arise for elongated curved robots that navigate extremely tortuous paths, must be avoided. This paper leverages state-of-the-art multi-core computer architectures to deliver real-time inverse kinematics solutions that avoid robot instabilities and anatomical collisions. Furthermore, it introduces frictional active constraints to concentric tube robots for intraoperative assistance in navigation. Our framework is evaluated in silico through clinical scenarios from heart surgery and neurosurgery.

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“…Electromagnetic tracking systems, e.g. NDI Aurora (Northern Digital Inc., Canada), can sense the position and orientation of finite numbers of magnetic tracking coils embedded inside or attached to the robot (Xu et al 2013). However, these systems are subject to magnetic field distortions (Kim et al 2014) and have limitations with regards to the mobility of the magnetic field generation system.…”

Section: Introductionmentioning

confidence: 99%

Macrobend optical sensing for pose measurement in soft robot arms

Sareh

Noh

et al. 2015

Smart Mater. Struct.

129

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This paper introduces a pose sensing system for soft robot arms integrating a set of macrobend stretch sensors. The macrobend sensory design in this study consists of optical fibres and is based on the notion that bending an optical fibre modulates the intensity of the light transmitted through the fibre.This sensing method is capable of measuring bending, elongation and compression in soft continuum robots and is also applicable to wearable sensing technologies, e.g. pose sensing in the wrist joint of a human hand. In our arrangement, applied to a cylindrical soft robot arm, the optical fibres for macrobend sensing originate from the base, extend to the tip of the arm, and then loop back to the base. The connectors that link the fibres to the necessary opto-electronics are all placed at the base of the arm, resulting in a simplified overall design.The ability of this custom macrobend stretch sensor to flexibly adapt its configuration allows preserving the inherent softness and compliance of the robot which it is installed on. The macrobend sensing system is immune to electrical noise and magnetic fields, is safe (because no electricity is needed at the sensing site), and is suitable for modular implementation in multi-link soft continuum robotic arms.The measurable light outputs of the proposed stretch sensor vary due to bend-induced light attenuation (macrobend loss), which is a function of the fibre bend radius as well as the number of repeated turns. The experimental study conducted as part of this research revealed that the chosen bend radius has a far greater impact on the measured light intensity values than the number of turns (if greater than five). Taking into account that the bend radius is the only significantly influencing design parameter, the macrobend stretch sensors were developed to create a practical solution to the pose sensing in soft continuum robot arms. Henceforward, the proposed sensing design was benchmarked against an electromagnetic tracking system (NDI Aurora) for validation.

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Position control of concentric-tube continuum robots using a modified Jacobian-based approach

Cited by 54 publications

References 10 publications

An Inductance-Based Sensing System for Bellows-Driven Continuum Joints in Soft Robots

An Inductance-Based Sensing System for Bellows-Driven Continuum Joints in Soft Robots

On-line collision-free inverse kinematics with frictional active constraints for effective control of unstable concentric tube robots

Macrobend optical sensing for pose measurement in soft robot arms

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