Maker based shape tracking of a flexible serpentine manipulator

Xu, Wenjun; Foong, Roslyn Pei Li; Ren, Hongliang

doi:10.1109/icinfa.2015.7279364

Cited by 7 publications

(4 citation statements)

References 19 publications

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“…These techniques are based on triangulation, involving the measurement of the robot's position from multiple camera perspectives. [161][162][163][164] The advantages of vision-based shape sensing include high accuracy, noninvasiveness, and real-time feedback capability. However, they are sensitive to lighting conditions and require calibration.…”

Section: Vision-based Shape-sensing Techniquesmentioning

confidence: 99%

Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

Huang,

Shi,

Gao

et al. 2023

Advanced Intelligent Systems

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In this study, an innovative exploration of leveraging bionics and continuum robotics principles to develop a novel solution for arthroscopic surgery is embarked on. Inspired by the flexibility and adaptability of organisms like snakes and octopuses, the continuum robot concept aims to address the inherent challenges in traditional arthroscopy, including lower precision, manual tremors, and long surgeon learning curves. The implementation of these principles in the human body, however, faces significant obstacles, particularly achieving high‐performance motion control amid strong nonlinearity and coupling between modules. This research focuses on intelligent integration and enhanced safety in human‐machine interaction, aiming for improved control precision and flexibility in arthroscopic procedures. A thorough literature review of endoscopic continuum robots is conducted, highlighting current advancements in actuation, structure, sensing, and control technologies. The study concludes with an assessment of these technologies, their limitations, and future potential, in light of the unique demands of arthroscopic continuum robots. This comprehensive review bridges bionics and robotics, presenting the opportunities and challenges in applying continuum robotics to arthroscopic surgery. The goal is to encourage further research in this area, contributing to the development of prototype robots that enhance the precision and safety of arthroscopic surgery.

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Section: Vision-based Shape-sensing Techniquesmentioning

confidence: 99%

Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

Huang,

Shi,

Gao

et al. 2023

Advanced Intelligent Systems

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“…In [ 24 ], the shape-sensing method based on stereo vision is proposed, which employs the Self-Organizing Mapping (SOM) algorithm for the shape reconstruction of a continuum robot based on the point cloud derived by the cameras. In [ 25 ], a marker-based shape-sensing method is proposed, in which multiple markers are located along the continuum robot. The positions of markers are measured through cameras, which are utilized to calculate the actual shape of the continuum robot.…”

Section: Introductionmentioning

confidence: 99%

Shape Sensing and Kinematic Control of a Cable-Driven Continuum Robot Based on Stretchable Capacitive Sensors

Shen,

He,

Yang

et al. 2024

Sensors

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A Cable−Driven Continuum Robot (CDCR) that consists of a set of identical Cable−Driven Continuum Joint Modules (CDCJMs) is proposed in this paper. The CDCJMs merely produce 2−DOF bending motions by controlling driving cable lengths. In each CDCJM, a pattern−based flexible backbone is employed as a passive compliant joint to generate 2−DOF bending deflections, which can be characterized by two joint variables, i.e., the bending direction angle and the bending angle. However, as the bending deflection is determined by not only the lengths of the driving cables but also the gravity and payload, it will be inaccurate to compute the two joint variables with its kinematic model. In this work, two stretchable capacitive sensors are employed to measure the bending shape of the flexible backbone so as to accurately determine the two joint variables. Compared with FBG−based and vision−based shape−sensing methods, the proposed method with stretchable capacitive sensors has the advantages of high sensitivity to the bending deflection of the backbone, ease of implementation, and cost effectiveness. The initial location of a stretchable sensor is generally defined by its two endpoint positions on the surface of the backbone without bending. A generic shape−sensing model, i.e., the relationship between the sensor reading and the two joint variables, is formulated based on the 2−DOF bending deflection of the backbone. To further improve the accuracy of the shape−sensing model, a calibration method is proposed to compensate for the location errors of stretchable sensors. Based on the calibrated shape−sensing model, a sliding−mode−based closed−loop control method is implemented for the CDCR. In order to verify the effectiveness of the proposed closed−loop control method, the trajectory tracking accuracy experiments of the CDCR are conducted based on a circle trajectory, in which the radius of the circle is 55mm. The average tracking errors of the CDCR measured by the Qualisys motion capture system under the open−loop and the closed−loop control are 49.23 and 8.40mm, respectively, which is reduced by 82.94%.

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“…Most of the works have been designed for snake-like robots [7], [8], [9]. Others used pose estimation for steerable catheter [10] and tendon-driven manipulators [11], [12]. Among other estimation techniques, the Kalman-Filter [7], [9] or a variance [13] have been predominantly employed.…”

Section: Introductionmentioning

confidence: 99%

“…Among other estimation techniques, the Kalman-Filter [7], [9] or a variance [13] have been predominantly employed. From the sensor side, various type of measurement strategy have been reported, such as inertial sensor [8] and visual sensing approach [13], [10], [12]. While the inertial sensor suffers from an accumulated integration error, visual sensing approach can be unreliable for dynamically changing environment.…”

Section: Introductionmentioning

confidence: 99%

Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments

Ataka

Shiva

et al. 2016

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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Maker based shape tracking of a flexible serpentine manipulator

Cited by 7 publications

References 19 publications

Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

Shape Sensing and Kinematic Control of a Cable-Driven Continuum Robot Based on Stretchable Capacitive Sensors

Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments

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