Two-Dimensional Shape and Distal Force Estimation for the Continuum Robot Based on Learning From the Proximal Sensors

Hao, Jianxiong; Song, Dezhi; Hu, Chengzhi; Shi, Chaoyang

doi:10.1109/jsen.2023.3262019

Cited by 10 publications

(2 citation statements)

References 31 publications

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“…In other researchers' investigations, more distinct bending performances in two bending planes have been observed [44][45][46]. The integration of proximal force sensors onto the driving unit will be investigated to measure and adjust the tendons' pre-tension forces to lower such differences between different bending planes [47].…”

Section: B Characterization Of the Constant Curvature Bending Perform...mentioning

confidence: 97%

A Novel Continuum Overtube With Improved Triangulation for Flexible Robotic Endoscopy

Song

Wang

Zhang

et al. 2023

IEEE Trans. Med. Robot. Bionics

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Abstract-This paper presents a novel continuum overtube that consists of a notched tendon-driven 2-DOF continuum joint and a distal deployable structure driven by a flexible screw rod. A smooth bending shape with constant curvature is achieved by adopting an overlapped area between notches to generate uniform stress distribution. The distal deployable structure provides an extensive triangulation for bimanual operations. The presented design achieves high flexibility, sufficient loading and anti-twisting capacity, and an improved layout of functional channels for flexible robotic endoscopy. Design optimization is performed to optimize structural parameters for performance investigation and improvement. The proposed continuum joint achieves an average distal positioning error of 1.48% and 1.20% within [-115°, 115°] in the two bending planes with minor hysteresis errors of less than 1.5%, indicating the outstanding constant bending curvature characteristics for kinematic modeling and control. The loading capacity achieves 4.27N and provides significant advantages in terms of sufficient rigidity over the commercial endoscope. The designed deployable structure has significantly improved operational triangulation, which can effectively support bimanual operations with two instruments for complex operations. Meanwhile, the torsional stiffness of the designed continuum joint reaches a considerable value of 8.73mNm/° and provides stable support for instruments during operations. Ex-vivo experiments of gastric tissue biopsy have been performed to verify the feasibility of the presented design in a practical scenario.

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Section: B Characterization Of the Constant Curvature Bending Perform...mentioning

confidence: 97%

A Novel Continuum Overtube With Improved Triangulation for Flexible Robotic Endoscopy

Song

Wang

Zhang

et al. 2023

IEEE Trans. Med. Robot. Bionics

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“…These drawbacks typically result in inaccurate and time-consuming solutions or unstable controllers, making it difficult to be utilized for the shape estimation of soft robots. In comparison, the learning-based algorithms are independent of the physical model and the configuration of soft robots [47,48] and have become an emerging and potential approach for shape estimation. However, the current implementations mainly utilize the existing commercial sensors (e.g., tension/force sensors) that are difficult to be integrated with soft robots or the limited sensory sources for data collection.…”

mentioning

confidence: 99%

2D Shape Estimation of a Pneumatic‐Driven Soft Finger with a Large Bending Angle Based on Learning from Two Sensing Modalities

Hao

Zhang

Wang

et al. 2023

Advanced Intelligent Systems

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A shape estimation method that utilizes two sensing modalities of a customized fiber Bragg grating (FBG) sensor and a commercial air pressure sensor for a pneumatically driven soft finger with an extensive bending angle range based on an artificial neural network model is proposed. The proposed FBG sensor utilizes two tiny nitinol rods as a backbone to attach the long‐grating FBG element fiber, enabling high strain transfer, shape sensing for large bending deformation, and preventing chirping failure and fiber sliding when bending. Its distal end is set free to slide and synchronizes with the extended length and reflects shapes for large bending deformation (up to 320° with a linearity of 99.96%), while its proximal end is fixed. The small packaged sensor unit enables modular design, easy assembly, and high repeatability with negligible effects on the soft finger's bending performances. The artificial neural network model is utilized to process the input of two sensing modalities, reducing errors from material nonlinearity, fabrication, and assembly of soft fingers while improving shape estimation's accuracy and transferability with average errors of 0.90 mm (0.69%) and 1.55 mm (1.19%) for whole shape and distal end position, respectively. Preliminary experiments also verify the potential for pressing force prediction and hardness recognition.

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Simultaneous Estimation of Shape and Force along Highly Deformable Surgical Manipulators Using Sparse FBG Measurement

Lu,

Li,

Chen

et al. 2024

2024 IEEE International Conference on Robotics and Automation (ICRA)

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Two-Dimensional Shape and Distal Force Estimation for the Continuum Robot Based on Learning From the Proximal Sensors

Cited by 10 publications

References 31 publications

A Novel Continuum Overtube With Improved Triangulation for Flexible Robotic Endoscopy

A Novel Continuum Overtube With Improved Triangulation for Flexible Robotic Endoscopy

2D Shape Estimation of a Pneumatic‐Driven Soft Finger with a Large Bending Angle Based on Learning from Two Sensing Modalities

Simultaneous Estimation of Shape and Force along Highly Deformable Surgical Manipulators Using Sparse FBG Measurement

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