Shape estimation for image-guided surgery with a highly articulated snake robot

Tully, Stephen; Kantor, George; Zenati, Marco A.; Choset, Howie

doi:10.1109/iros.2011.6094751

Cited by 43 publications

(45 citation statements)

References 12 publications

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“…Furthermore, their narrow body enables them to effectively perform in narrow and unstructured environments. This has made them an interesting alternative for many emerging medical [1], industrial [2], and search and rescue operations [3].…”

Section: Introductionmentioning

confidence: 99%

Virtual holonomic constraint based direction following control of planar snake robots described by a simplified model

Rezapour

Hofmann

Pettersen

et al. 2014

2014 IEEE Conference on Control Applications (CCA)

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Abstract-This paper considers direction following control of planar snake robots for which the equations of motion are described based on a simplified model. In particular, we aim to regulate the orientation and the forward velocity of the robot to a constant vector, while guaranteeing the boundedness of the states of the controlled system. To this end, we first stabilize a constraint manifold for the fully-actuated body shape variables of the robot. The definition of the constraint manifold is inspired by the well-known reference joint angle trajectories which induce lateral undulatory motion for snake robots. Subsequently, we reduce the dynamics of the system to the invariant constraint manifold. Furthermore, we design two dynamic compensators which control the orientation and velocity of the robot on this manifold. Using numerical analysis and a formal stability proof, we show that the solutions of the dynamic compensators remain bounded. Numerical simulations are presented to validate the theoretical design.

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Section: Introductionmentioning

confidence: 99%

Virtual holonomic constraint based direction following control of planar snake robots described by a simplified model

Rezapour

Hofmann

Pettersen

et al. 2014

2014 IEEE Conference on Control Applications (CCA)

View full text Add to dashboard Cite

show abstract

“…The vast potential of snake robots for performing tasks in narrow and unstructured environments has made them an interesting alternative for many emerging industrial [1], search and rescue [2], and medical [3] applications. These robots have many degrees-of-freedom, which give them a robust motion even during the failure of some of their actuators.…”

Section: Introductionmentioning

confidence: 99%

Maneuvering control of planar snake robots based on a simplified model

Rezapour

Hofmann

Pettersen

2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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Abstract-This paper considers maneuvering control of planar snake robots, for which the equations of motion are described based on a simplified model. In particular, we aim to stabilize a desired straight line path for the position of the center of mass of the robot, and to regulate the forward velocity of the robot along the path to a constant reference velocity. In order to solve this problem, we first stabilize a desired gait pattern for the fully-actuated body shape variables of the robot. Furthermore, we use the parameters of this gait pattern in the form of two dynamic compensators which control orientation and position of the robot in the plane. In particular, by solving the maneuvering problem, we control the body shape, orientation, and planar position of the robot.

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“…III. DEFINITION OF STATE VECTOR The state vector for an N link snake robot [13] is described in [8] as…”

Section: Motivationmentioning

confidence: 99%

“…Also complete knowledge of its shape configuration is necessary to avoid interfering with organs. In [8] a nonlinear stochastic filtering method is used to estimate the shape and configuration of a snake robot (see Fig. 1).…”

Section: Introductionmentioning

confidence: 99%

Using Lie algebra for shape estimation of medical snake robots

Srivatsan

Travers

Choset

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Highly articulated robots have the potential to play a key role in minimally invasive surgeries by providing improved access to hard-to-reach anatomy. Estimating their shape inside the body and combining it with 3D preoperative scans of the anatomy enable the surgeon to visualize how the entire robot interacts with the internal organs. As the robot progresses inside the body, the position and orientation of every link comprising the robot, evolves over a coordinate-free Lie algebra, se(3). To capture the full motion and uncertainty of the system, we use an extended Kalman filter where the state vector is defined using elements of se(3). We show that this approach describes the shape of the robot more accurately, than the ones where the state vector is a conventional parametrization, such as Cartesian coordinates and Euler angles. We perform two experiments to demonstrate the effectiveness of this new filtering approach.

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Shape estimation for image-guided surgery with a highly articulated snake robot

Cited by 43 publications

References 12 publications

Virtual holonomic constraint based direction following control of planar snake robots described by a simplified model

Virtual holonomic constraint based direction following control of planar snake robots described by a simplified model

Maneuvering control of planar snake robots based on a simplified model

Using Lie algebra for shape estimation of medical snake robots

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