Configuration Tracking for Continuum Manipulators With Coupled Tendon Drive

Robotic control of flexible devices can enhance and simplify many medical procedures. We present a method for controlling a tendon-driven continuum manipulator by means of specifying the shape configuration. The basis for control is a linear beam configuration model that transforms beam configuration to tendon displacement by modeling internal loads of the compliant system. An essential aspect of this model is the inclusion of both the mechanical and geometrical coupling among serial articulating sections. Important capabilities of this model are the general forward kinematics and the decoupled inverse kinematics that allow for independent control of multiple sections. Tracking results are presented for a cardiac catheter with two articulating sections.

[1]  Ian D. Walker,et al.  Real-time shape estimation for continuum robots using vision , 2005, Robotica.

[2]  Ian D. Walker,et al.  Kinematics for multisection continuum robots , 2006, IEEE Transactions on Robotics.

[3]  Robert J. Webster,et al.  Mechanics of Precurved-Tube Continuum Robots , 2009, IEEE Transactions on Robotics.

[4]  John Kenneth Salisbury,et al.  Vision based 3-D shape sensing of flexible manipulators , 2008, 2008 IEEE International Conference on Robotics and Automation.

[5]  Russell H. Taylor,et al.  Robots as Surgical Assistants: Wher We Are, Wither We Are Tending, and How to Get There , 1997, AIME.

[6]  Peter Cave,et al.  Biologically Inspired Robots: Serpentile Locomotors and Manipulators , 1993 .

[7]  Ian D. Walker,et al.  Kinematics and the Implementation of an Elephant's Trunk Manipulator and Other Continuum Style Robots , 2003, J. Field Robotics.

[8]  広瀬 茂男,et al.  Biologically inspired robots : snake-like locomotors and manipulators , 1993 .

[9]  Shigeo Hirose,et al.  Biologically Inspired Robots: Snake-Like Locomotors and Manipulators , 1993 .

[10]  Russell H. Taylor,et al.  Telemanipulation of Snake-Like Robots for Minimally Invasive Surgery of the Upper Airway , 2006 .

[11]  Koji Ikuta,et al.  Hyper redundant miniature manipulator "Hyper Finger" for remote minimally invasive surgery in deep area , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[12]  Pierre E. Dupont,et al.  Inverse Kinematics of Concentric Tube Steerable Needles , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[13]  John Kenneth Salisbury,et al.  Task-Space Control of Continuum Manipulators with Coupled Tendon Drive , 2008, ISER.

[14]  John Kenneth Salisbury,et al.  Mechanics Modeling of Tendon-Driven Continuum Manipulators , 2008, IEEE Transactions on Robotics.

[15]  Ian D. Walker,et al.  Setpoint regulation of continuum robots using a fixed camera , 2007, Proceedings of the 2004 American Control Conference.

[16]  Kai Xu,et al.  An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots , 2008, IEEE Transactions on Robotics.

[17]  David B. Camarillo,et al.  Robotic technology in surgery: past, present, and future. , 2004, American journal of surgery.

[18]  R. Satava Emerging technologies for surgery in the 21st century. , 1999, Archives of surgery.

[19]  Ian D. Walker,et al.  Practical Kinematics for Real-Time Implementation of Continuum Robots , 2006, IEEE Transactions on Robotics.