Robust tracking of dexterous continuum robots: Fusing FBG shape sensing and stereo vision

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Robust tracking of dexterous continuum robots: Fusing FBG shape sensing and stereo vision
	Han JD(韩建达); Liu H(刘浩); Zhang RM(张如美)
	2017
会议名称	39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2017
会议日期	July 11-15, 2017
会议地点	Jeju Island, Korea, Republic of
页码	925-928
通讯作者	Zhang RM(张如美)
中文摘要	Robust and efficient tracking of continuum robots is important for improving patient safety during space-confined minimally invasive surgery, however, it has been a particularly challenging task for researchers. In this paper, we present a novel tracking scheme by fusing fiber Bragg grating (FBG) shape sensing and stereo vision to estimate the position of continuum robots. Previous visual tracking easily suffers from the lack of robustness and leads to failure, while the FBG shape sensor can only reconstruct the local shape with integral cumulative error. The proposed fusion is anticipated to compensate for their shortcomings and improve the tracking accuracy. To verify its effectiveness, the robots' centerline is recognized by morphology operation and reconstructed by stereo matching algorithm. The shape obtained by FBG sensor is transformed into distal tip position with respect to the camera coordinate system through previously calibrated registration matrices. An experimental platform was set up and repeated tracking experiments were carried out. The accuracy estimated by averaging the absolute positioning errors between shape sensing and stereo vision is 0.67±0.65 mm, 0.41±0.25 mm, 0.72±0.43 mm for x, y and z, respectively. Results indicate that the proposed fusion is feasible and can be used for closed-loop control of continuum robots.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Smarter Technology for a Healthier World, EMBC 2017 - Proceedings
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISSN号	1094-687X
ISBN号	978-1-5090-2809-2
WOS记录号	WOS:000427085301096
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/21080]
专题	沈阳自动化研究所_机器人学研究室
作者单位	State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
推荐引用方式 GB/T 7714	Han JD,Liu H,Zhang RM. Robust tracking of dexterous continuum robots: Fusing FBG shape sensing and stereo vision[C]. 见:39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2017. Jeju Island, Korea, Republic of. July 11-15, 2017.