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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
Department机器人学研究室
Source PublicationIEEE Sensors Journal
ISSN1530-437X
2015
Volume15Issue:10Pages:5494-5503
Indexed BySCI ; EI
EI Accession number20153401191046
WOS IDWOS:000360072500019
Contribution Rank1
Funding OrganizationNational Institutes of Health (NIH) under Grant R01 EB016703 and in part by the JHU/APL Internal Research Funding (IRAD) and NIH under Grant R01 CA111288. The work of H. Liu was supported in part by the National Natural Science Foundation of China under Grant 61473281 and in part by the China Scholarship Council under Grant 201304910075.
KeywordFiber Bragg Grating Large Curvature Shape Tracking Dexterous Continuum Manipulator Obstacle
AbstractDexterous 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.
Language英语
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Cited Times:25[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/16869
Collection机器人学研究室
Corresponding AuthorLiu H(刘浩)
Affiliation1.Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, United States
3.Applied Physics Laboratory, Johns Hopkins University, Baltimore, MD, United States
Recommended Citation
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.
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