Continuum Reconfigurable Parallel Robots for Surgery: Shape Sensing and State Estimation with Uncertainty.
Continuum Reconfigurable Parallel Robots for Surgery: Shape Sensing and State Estimation with Uncertainty.
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DOI：
10.1109/lra.2017.2678606
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发表时间：
2017-07
影响因子：
5.2
通讯作者：
Webster RJ 3rd
中科院分区：
文献类型：
--
作者：
Anderson PL;Mahoney AW;Webster RJ 3rd
本文研究了新型手术机器人的形状传感，该机器人由可在人体内重新配置的并行柔性结构组成。这些设备被称为 CRISP 机器人，可以通过针头大小的入口点进入人体，但可以配置成能够灵巧移动和施加大作用力的桁架状结构。它们还可以在外科手术过程中根据需要重新配置。由于 CRISP 机器人具有弹性，因此在受到外力或其他扰动时它们会变形。在本文中，我们探索如何将 CRISP 机器人的传感器信息与基于力学的模型相结合，以估计其在施加负载下的形状。最终结果是 CRISP 机器人的形状传感框架，该框架将使未来对施加负载下的控制、自主运动、力传感和其他机器人行为的研究成为可能。
This paper examines shape sensing for a new class of surgical robot that consists of parallel flexible structures that can be reconfigured inside the human body. Known as CRISP robots, these devices provide access to the human body through needle-sized entry points, yet can be configured into truss-like structures capable of dexterous movement and large force application. They can also be reconfigured as needed during a surgical procedure. Since CRISP robots are elastic, they will deform when subjected to external forces or other perturbations. In this paper, we explore how to combine sensor information with mechanics-based models for CRISP robots to estimate their shapes under applied loads. The end result is a shape sensing framework for CRISP robots that will enable future research on control under applied loads, autonomous motion, force sensing, and other robot behaviors.