Model-based Force Estimation for Intra-cardiac Catheters

Hasanzadeh, Shahir; Janabi–Sharifi, Farrokh

doi:10.1109/tmech.2015.2453122

Cited by 40 publications

(18 citation statements)

References 22 publications

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“…There are works about deflection-based force sensing to estimate tip forces. The contact forces can be estimated based on shape detection [18], tip pose measurement [19] and shaft curvature [20].…”

Section: Related Workmentioning

confidence: 99%

Calibration and External Force Sensing for Soft Robots Using an RGB-D Camera

Zhang

Petit

Dequidt

et al. 2019

IEEE Robot. Autom. Lett.

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Benefiting from the deformability of soft robots, calibration and force sensing for soft robots are possible using an external vision-based system, instead of embedded mechatronic force sensors. In this paper, we first propose a calibration method to calibrate both the sensor-robot coordinate system and the actuator inputs. This task is addressed through a sequential optimization problem for both variables. We also introduce an external force sensing system based on a realtime Finite Element (FE) model with the assumption of static configurations, and which consists of two steps: force location detection and force intensity computation. The algorithm that estimates force location relies on the segmentation of the point cloud acquired by an RGB-D camera. Then, the force intensities can be computed by solving an inverse quasi-static problem based on matching the FE model with the point cloud of the soft robot. As for validation, the proposed strategies for calibration and force sensing have been tested using a parallel soft robot driven by four cables.

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Section: Related Workmentioning

confidence: 99%

Calibration and External Force Sensing for Soft Robots Using an RGB-D Camera

Zhang

Petit

Dequidt

et al. 2019

IEEE Robot. Autom. Lett.

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“…Previous methods for force sensing in concentric tube robots and catheters used indirect force-sensing methods with sensed loads not exceeding 0.3 N. A notable outlier is Kesner and Howe (2014) who used a catheter with a combination of a tip-mounted force sensor and ultrasound guidance to maintain tip forces at the level of 1 N. Errors have ranged from 5% to 20% of maximum reported loads with some papers reporting maximum forces as small as 0.1 N. This includes methods using numerical solvers to estimate a single force at the tip of a flexible beam using shape detection methods ranging from image segmentation (Back et al, 2015; Khoshnam and Patel, 2014; Khoshnam et al, 2015), combined wire tension and tip position estimation (Back et al, 2016), electromagnetic tip tracking (Hasanzadeh and Janabi-Sharifi, 2016; Rucker and Webster, 2011), or fiber Bragg grating sensors (Khan et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Joint-level force sensing for indirect hybrid force/position control of continuum robots with friction

Yasin

Simaan

2020

The International Journal of Robotics Research

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Continuum robots offer the dexterity and obstacle circumvention capabilities necessary to enable surgery in deep surgical sites. They also can enable joint-level ex situ force sensing (JEFS), which provides an estimate of end-effector wrenches given joint-level forces. Prior works on JEFS relied on a restrictive embodiment with minimal actuation line friction and captured model and frictional actuation transmission uncertainties using a configuration space formulation. In this work, we overcome these limitations. First, frictional losses are canceled using a feed-forward term based on support vector regression in joint space. Then, regression maps and their interpolation are used to account for actuation hysteresis. The residual joint-force error is then further minimized using a least-squares model parameter update. An indirect hybrid force/position controller using JEFS is presented with evaluation carried out on a realistic pre-clinically deployable insertable robotic effectors platform (IREP) for single-port access surgery. Automated mock force-controlled ablation, exploration, and knot tightening are evaluated. A user study involving the daVinci Research Kit surgeon console and the IREP as a surgical slave was carried out to compare the performance of users with and without force feedback based on JEFS for force-controlled ablation and knot tightening. Results in automated experiments and a user study of telemanipulated experiments suggest that intrinsic force-sensing can achieve levels of force uncertainty and force regulation errors of the order of 0.2 N. Using JEFS and automated task execution, repeatability, and force regulation accuracy is shown to be comparable to using a commercial force sensor for human-in-the-loop feedback.

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“…Besides actuation-based wrench sensing, also the compliant nature of the continuum robots itself could be explored to estimate forces through so-called deflection-based wrench sensing schemes. In [7], the tip contact force was estimated based on the pose of the catheter tip by modelling the catheter as a planar elastica. In [8], the magnitude and 1 Department of Mechanical Engineering, KU Leuven, Belgium 2 Core Lab ROB of Flanders Make, Belgium direction of the tip contact force was calculated by a multisection kinematic model based on an Euler-Bernoulli representation.…”

Section: Introductionmentioning

confidence: 99%

Estimating and Localizing External Forces Applied on Flexible Instruments by Shape Sensing

Qiao

Willems

Borghesan

et al. 2019

2019 19th International Conference on Advanced Robotics (ICAR)

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Force sensing is highly desirable in medical applications showing great potential to reduce tissue damage and enhance manipulation safety. Embedding force sensors in medical devices is however challenging and costly. Provided that the medical device is long, slender and largely compliant, we show in this paper that it is possible to estimate multiple loads along the length of the flexible instrument using a Cosserat-rod model and Fiber Bragg Grating sensors, which allows simultaneous shape and force sensing. We perform experiments that illustrate the feasibility of using this method to locate multiple contact forces along the instrument, and to estimate the magnitudes of the forces that are applied along the length of the instrument. Results show that one-directional force magnitude and location can be estimated with an average error of 6.3% and 5.4 mm (3.0% of rod length), respectively. In the worst case, the error for magnitude and location can go up to 22.6% and 13.9 mm (7.7% of rod length), respectively. For two-directional forces, results show an average error of 9.8% for magnitude and 6.4 mm (3.6% of rod length) for the location. The errors on magnitude and location do not exceed 27.4% and 17.4 mm (9.7% of rod length), respectively.

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Model-based Force Estimation for Intra-cardiac Catheters

Cited by 40 publications

References 22 publications

Calibration and External Force Sensing for Soft Robots Using an RGB-D Camera

Calibration and External Force Sensing for Soft Robots Using an RGB-D Camera

Joint-level force sensing for indirect hybrid force/position control of continuum robots with friction

Estimating and Localizing External Forces Applied on Flexible Instruments by Shape Sensing

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