Slawinski, PR, Simaan, N, Obstein, KL et al. (1 more author) (2019) Sensorless Estimation of the Planar Distal Shape of a Tip-Actuated Endoscope. IEEE Robotics and Automation Letters, 4 (4). pp. 3371-3377. ISSN 2377-3766
Abstract
Traditional endoscopes consist of a flexible body and a steerable tip with therapeutic capability. Although prior endoscopes have relied on operator pushing for actuation, recent robotic concepts have relied on the application of a tip force for guidance. In such case, the body of the endoscope can be passive and compliant; however, the body can have significant effect on mechanics of motion and may require modeling. As the endoscope body's shape is often unknown, we have developed an estimation method to recover the approximate distal shape, local to the endoscope's tip, where the tip position and orientation are the only sensed parameters in the system. We leverage a planar dynamic model and extended Kalman filter to obtain a constant-curvature shape estimate of a magnetically guided endoscope. We validated this estimator in both dynamic simulations and on a physical platform. We then used this estimate in a feed-forward control scheme and demonstrated improved trajectory following. This methodology can enable the use of inverse-dynamic control for the tip-based actuation of an endoscope, without the need for shape sensing.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2019 IEEE. This is an author produced version of a paper published in IEEE Robotics and Automation Letters. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Medical robots and systems; kinematics |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 14 Aug 2019 08:42 |
Last Modified: | 14 Aug 2019 08:43 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Identification Number: | 10.1109/LRA.2019.2926964 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:149670 |