Shape Tracking of a Dexterous Continuum Manipulator Utilizing Two Large Deflection Shape Sensors

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	Shape Tracking of a Dexterous Continuum Manipulator Utilizing Two Large Deflection Shape Sensors
	Liu H(刘浩); Farvardin, Amirhossein; Grupp, Robert; Murphy, Ryan J.; Taylor, Russell H.; Iordachita, Iulian; Armand, Mehran
刊名	IEEE Sensors Journal
	2015
卷号	15 期号:10 页码:5494-5503
关键词	Fiber Bragg grating large curvature shape tracking dexterous continuum manipulator obstacle
ISSN号	1530-437X
通讯作者	刘浩
产权排序	1
中文摘要	Dexterous continuum manipulators (DCMs) can largely increase the reachable region and steerability for minimally and less invasive surgery. Many such procedures require the DCM to be capable of producing large deflections. The real-time control of the DCM shape requires sensors that accurately detect and report large deflections. We propose a novel, large deflection, shape sensor to track the shape of a 35 mm DCM designed for a less invasive treatment of osteolysis. Two shape sensors, each with three fiber Bragg grating sensing nodes is embedded within the DCM, and the sensors' distal ends fixed to the DCM. The DCM centerline is computed using the centerlines of each sensor curve. An experimental platform was built and different groups of experiments were carried out, including free bending and three cases of bending with obstacles. For each experiment, the DCM drive cable was pulled with a precise linear slide stage, the DCM centerline was calculated, and a 2D camera image was captured for verification. The reconstructed shape created with the shape sensors is compared with the ground truth generated by executing a 2D-3D registration between the camera image and 3D DCM model. Results show that the distal tip tracking accuracy is 0.40 ± 0.30 mm for the free bending and 0.61 ± 0.15 mm, 0.93 ± 0.05 mm and 0.23 ± 0.10 mm for three cases of bending with obstacles. The data suggest FBG arrays can accurately characterize the shape of large-deflection DCMs.
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000360072500019
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/16869]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Liu H,Farvardin, Amirhossein,Grupp, Robert,et al. Shape Tracking of a Dexterous Continuum Manipulator Utilizing Two Large Deflection Shape Sensors[J]. IEEE Sensors Journal,2015,15(10):5494-5503.
APA	Liu H.,Farvardin, Amirhossein.,Grupp, Robert.,Murphy, Ryan J..,Taylor, Russell H..,...&Armand, Mehran.(2015).Shape Tracking of a Dexterous Continuum Manipulator Utilizing Two Large Deflection Shape Sensors.IEEE Sensors Journal,15(10),5494-5503.
MLA	Liu H,et al."Shape Tracking of a Dexterous Continuum Manipulator Utilizing Two Large Deflection Shape Sensors".IEEE Sensors Journal 15.10(2015):5494-5503.