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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)
Department机器人学研究室
Conference Name39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2017
Conference DateJuly 11-15, 2017
Conference PlaceJeju Island, Korea, Republic of
Source Publication2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Smarter Technology for a Healthier World, EMBC 2017 - Proceedings
PublisherIEEE
Publication PlaceNew York
2017
Pages925-928
Indexed ByEI ; CPCI(ISTP)
EI Accession number20174404318681
WOS IDWOS:000427085301096
Contribution Rank1
ISSN1094-687X
ISBN978-1-5090-2809-2
AbstractRobust 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/21080
Collection机器人学研究室
Corresponding AuthorZhang RM(张如美)
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
Recommended Citation
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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