Shape Tracking of a Dexterous Continuum Manipulator Utilizing Two Large Deflection Shape Sensors.
Shape Tracking of a Dexterous Continuum Manipulator Utilizing Two Large Deflection Shape Sensors.
复制标题
利用两个大偏转形状传感器的灵巧连续体机械臂的形状跟踪
DOI：
10.1109/jsen.2015.2442266
复制
发表时间：
2015-10
影响因子：
4.3
通讯作者：
Armand M
中科院分区：
文献类型：
--
作者：
Liu H;Farvardin A;Grupp R;Murphy RJ;Taylor RH;Iordachita I;Armand M
灵巧连续机械臂（dcm）可以极大地增加手术的可达区域和可操纵性。许多这样的程序要求DCM能够产生大的偏转。DCM形状的实时控制需要传感器准确地检测和报告大挠度。我们提出了一种新颖的，大挠度，形状传感器来跟踪35毫米DCM的形状，该DCM设计用于微创治疗骨溶解。两个形状传感器，每个有三个光纤布拉格光栅传感节点嵌入在DCM内，传感器的远端固定在DCM上。利用各传感器曲线的中心线计算DCM中心线。搭建了实验平台，进行了自由弯曲和有障碍物弯曲三组实验。每次实验均采用精密直线滑台拉拔DCM驱动电缆，计算DCM中心线，并采集二维相机图像进行验证。使用形状传感器创建的重建形状与通过在相机图像和3D DCM模型之间执行2D-3D配准生成的地面真相进行比较。结果表明，自由弯曲时远端跟踪精度为0.40±0.30 mm，有障碍物弯曲时远端跟踪精度为0.61±0.15 mm、0.93±0.05 mm和0.23±0.10 mm。结果表明，光纤光栅阵列可以准确表征大挠度dcm的形状。
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.