Shape Tracking of a Dexterous Continuum Manipulator Utilizing Two Large Deflection Shape Sensors

Líu, Hao; Farvardin, Amirhossein; Grupp, Robert B.; Murphy, Ryan J.; Taylor, Russell H.; Iordachita, Iulian; Armand, Mehran

doi:10.1109/jsen.2015.2442266

Cited by 70 publications

(39 citation statements)

References 25 publications

(24 reference statements)

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“…1 at high frequencies without requiring a direct line of sight making them perfectly suitable for CDM position sensing, especially for surgical applications. The fibers are typically either combined with small elastic substrates to form a standalone sensor [4] or attached directly to the CDMs [6].…”

Section: Introductionmentioning

confidence: 99%

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FBG-Based Position Estimation of Highly Deformable Continuum Manipulators: Model-Dependent vs. Data-Driven Approaches

Sefati

Hegeman

Alambeigi

et al. 2019

2019 International Symposium on Medical Robotics (ISMR)

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Conventional shape sensing techniques using Fiber Bragg Grating (FBG) involve finding the curvature at discrete FBG active areas and integrating curvature over the length of the continuum dexterous manipulator (CDM) for tip position estimation (TPE). However, due to limited number of sensing locations and many geometrical assumptions, these methods are prone to large error propagation especially when the CDM undergoes large deflections. In this paper, we study the complications of using the conventional TPE methods that are dependent on sensor model and propose a new data-driven method that overcomes these challenges. The proposed method consists of a regression model that takes FBG wavelength raw data as input and directly estimates the CDM's tip position. This model is pre-operatively (off-line) trained on position information from optical trackers/cameras (as the ground truth) and it intraoperatively (on-line) estimates CDM tip position using only the FBG wavelength data. The method's performance is evaluated on a CDM developed for orthopedic applications, and the results are compared to conventional model-dependent methods during large deflection bendings. Mean absolute TPE error (and standard deviation) of 1.52 (0.67) mm and 0.11 (0.1) mm with maximum absolute errors of 3.63 mm and 0.62 mm for the conventional and the proposed data-driven techniques were obtained, respectively. These results demonstrate a significant out-performance of the proposed data-driven approach versus the conventional estimation technique.

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Section: Introductionmentioning

confidence: 99%

“…A variety of FBG sensor manufacturing techniques associated with the choice of substrate material, geometry, number of fibers and their attachments have been explored in the literature [4]- [12]. Liu et al [4] used a triangular configuration ( Fig. 2) with one fiber (three gratings) and two Nitinol (NiTi) substrates.…”

Section: Introductionmentioning

confidence: 99%

FBG-Based Position Estimation of Highly Deformable Continuum Manipulators: Model-Dependent vs. Data-Driven Approaches

Sefati

Hegeman

Alambeigi

et al. 2019

2019 International Symposium on Medical Robotics (ISMR)

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“…However, this did not effectively capture friction, only worked well for the bending phase, and underestimated the hysteresis. The hysteresis, likely caused by the friction in the bending and unbending cycle described in [7], should be addressed carefully. Rather than a kinematic model, a mechanical model may be more suitable to predict DCM deformation, especially in the presence of tendon interaction and external forces.…”

Section: Introductionmentioning

confidence: 99%

Mechanical Model of Dexterous Continuum Manipulators With Compliant Joints and Tendon/External Force Interactions

Gao

Murphy

Líu

et al. 2017

IEEE/ASME Trans. Mechatron.

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Dexterous continuum manipulators (DCMs) have been widely adopted for minimally- and less-invasive surgery. During the operation, these DCMs interact with surrounding anatomy actively or passively. The interaction force will inevitably affect the tip position and shape of DCMs, leading to potentially inaccurate control near critical anatomy. In this paper, we demonstrated a 2D mechanical model for a tendon actuated, notched DCM with compliant joints. The model predicted deformation of the DCM accurately in the presence of tendon force, friction force, and external force. A partition approach was proposed to describe the DCM as a series of interconnected rigid and flexible links. Beam mechanics, taking into consideration tendon interaction and external force on the tip and the body, was applied to obtain the deformation of each flexible link of the DCM. The model results were compared with experiments for free bending as well as bending in the presence of external forces acting at either the tip or body of the DCM. The overall mean error of tip position between model predictions and all of the experimental results was 0.62±0.41mm. The results suggest that the proposed model can effectively predict the shape of the DCM.

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“…When the proximal end of tendon is pulled or released, the force resulting from tendon interactions will be applied to all discrete disks, thereby bending or recovering the DITA-DMs. The friction from the pathdistributed interaction affects the deformation of DITA-DMs, leading to the obvious dissimilar behavior for the bending and unbending phases [11][12][13]. The interaction described in Fig.…”

Section: Introductionmentioning

confidence: 99%

A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators

Gao

Zou

Wang

et al. 2017

Journal of Mechanisms and Robotics

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Continuum robots present the great dexterity and compliance as dexterous manipulators to accomplish complex positioning tasks in confined anatomy during minimally invasive surgery. Tendon actuation is one of the most popular approaches, which is to insert the tendon to eccentrically go through and interact with the flexible backbone to accomplish compliant bends. However, hysteresis of tip trajectory of tendon actuated dexterous manipulators (TA-DMs) has been observed during the loading and unloading procedure, which is mainly caused by the hindered friction at discrete interactions between the actuation tendon and conduits. This paper aims to propose a general friction model to describe the interactions and friction profile at the multiple discrete contact points for tendon actuated dexterous manipulators under the history-dependent tendon tension. The friction model was integrated into the beam theory to describe the hysteresis and loading history-dependent behavior by solving the profiles of tendon force, normal force, and friction force, as well as the deflection of the dexterous manipulator. Experiments were carried out to validate the effectiveness of the proposed friction model. Results indicate that the friction model can successfully describe the discrete interaction and predict the deflection of dexterous manipulator subject to the different tendon loading histories. Furthermore, the effects of discrete friction to the tendon force propagation and the loading history-dependent behavior are discussed.

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Shape Tracking of a Dexterous Continuum Manipulator Utilizing Two Large Deflection Shape Sensors

Cited by 70 publications

References 25 publications

FBG-Based Position Estimation of Highly Deformable Continuum Manipulators: Model-Dependent vs. Data-Driven Approaches

FBG-Based Position Estimation of Highly Deformable Continuum Manipulators: Model-Dependent vs. Data-Driven Approaches

Mechanical Model of Dexterous Continuum Manipulators With Compliant Joints and Tendon/External Force Interactions

A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators

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