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Robust tracking of dexterous continuum robots: Fusing FBG shape sensing and stereo vision
Zhang RM(张如美); Liu H(刘浩); Han JD(韩建达)
作者部门机器人学研究室
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
会议录名称2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Smarter Technology for a Healthier World, EMBC 2017 - Proceedings
出版者IEEE
出版地New York
2017
页码925-928
收录类别EI ; CPCI(ISTP)
EI收录号20174404318681
WOS记录号WOS:000427085301096
产权排序1
ISSN号1094-687X
ISBN号978-1-5090-2809-2
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.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21080
专题机器人学研究室
通讯作者Zhang RM(张如美)
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
Zhang RM,Liu H,Han JD. Robust tracking of dexterous continuum robots: Fusing FBG shape sensing and stereo vision[C]. New York:IEEE,2017:925-928.
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