Laser-profiled continuum robot with integrated tension sensing for simultaneous shape and tip force estimation
Author(s)
Type
Journal Article
Abstract
The development of miniaturized continuum robots has a wide range of applications in minimally invasive endoluminal interventions. To navigate inside tortuous lumens without impinging on the vessel wall and causing tissue damage or the risk of perforation, it is necessary to have simultaneous shape sensing of the continuum robot and its tip contact force sensing with the surrounding environment. Miniaturization and size constraint of the device have precluded the use of conventional sensing hardware and embodiment schemes. In this study, we propose the use of optical fibers for both actuation and tension/shape/force sensing. It uses a model-based method with structural compensation, allowing direct measurement of the cable tension near the base of the manipulator without increasing the dimensions. It further structurally filters out disturbances from the flexible shaft. In addition, a model is built by considering segment differences, cable interactions/cross talks, and external forces. The proposed model-based method can simultaneously estimate the shape of the manipulator and external force applied onto the robot tip. Detailed modeling and validation results demonstrate the accuracy and reliability of the proposed method for the miniaturized continuum robot for endoluminal intervention.
Date Issued
2020-08
Date Acceptance
2020-02-01
Citation
Soft Robotics, 2020, 7 (4), pp.421-443
ISSN
2169-5172
Publisher
Mary Ann Liebert
Start Page
421
End Page
443
Journal / Book Title
Soft Robotics
Volume
7
Issue
4
Copyright Statement
© 2020, Mary Ann Liebert, Inc., publishers. Final publication is available from Mary Ann Liebert, Inc., publishers https://doi.org/10.1089/soro.2019.0051
Sponsor
Engineering & Physical Science Research Council (EPSRC)
Engineering & Physical Science Research Council (EPSRC)
Engineering & Physical Science Research Council (EPSRC)
Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000515355100001&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Grant Number
EP/P012779/1
EP/N019318/1
EP/J021199/1
Subjects
Science & Technology
Technology
Robotics
endoluminal intervention
continuum robot
tension-sensing cable
modeling
shape and force sensing
SOFT ROBOTICS
RECONSTRUCTION
CATHETER
SURGERY
DESIGN
Publication Status
Published
Date Publish Online
2020-02-20