Details
| Original language | English |
|---|---|
| Pages (from-to) | 2315-2321 |
| Number of pages | 7 |
| Journal | IEEE Robotics and Automation Letters |
| Volume | 3 |
| Issue number | 3 |
| Early online date | 19 Feb 2018 |
| Publication status | Published - Jul 2018 |
Abstract
This letter deals with the development of a vision-based controller for a continuum robot architecture. More precisely, the controlled robotic structure is based on three-tube concentric tube robot (CTR), an emerging paradigm to design accurate, miniaturized, and flexible endoscopic robots. This approach has grown considerably in the recent years finding applications in numerous surgical disciplines. In contrast to conventional robotic structures, CTR kinematics arise many challenges for an optimal control, such as friction, torsion, shear, and nonlinear constitutive behavior. In fact, in order to ensure efficient and reliable control, in addition to computing an analytical and complete kinematic model, it is also important to close the control loop. To do this, we developed an eye-in-hand visual servoing scheme using a millimeter-sized camera embedded at the robot's tip. Both the kinematic model and the visual servoing controller were successfully validated in simulation with visual servoing platform and using an experimental setup. The obtained results showed satisfactory performances for three-degrees of freedom positioning and path following tasks with adaptive gain control.
Keywords
- Concentric tube robot, CTR kinematics, eye-in-hand visual servoing, medical application, model-based control
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Biomedical Engineering
- Computer Science(all)
- Human-Computer Interaction
- Engineering(all)
- Mechanical Engineering
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Computer Science Applications
- Mathematics(all)
- Control and Optimization
- Computer Science(all)
- Artificial Intelligence
Cite this
- Standard
- Harvard
- Apa
- Vancouver
- BibTeX
- RIS
In: IEEE Robotics and Automation Letters, Vol. 3, No. 3, 07.2018, p. 2315-2321.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Eye-in-Hand Visual Servoing of Concentric Tube Robots
AU - Kudryavtsev, Andrey V.
AU - Chikhaoui, Mohamed Taha
AU - Liadov, Aleksandr
AU - Rougeot, Patrick
AU - Spindler, Fabien
AU - Rabenorosoa, Kanty
AU - Burgner-Kahrs, Jessica
AU - Tamadazte, Brahim
AU - Andreff, Nicolas
N1 - Publisher Copyright: © 2016 IEEE.
PY - 2018/7
Y1 - 2018/7
N2 - This letter deals with the development of a vision-based controller for a continuum robot architecture. More precisely, the controlled robotic structure is based on three-tube concentric tube robot (CTR), an emerging paradigm to design accurate, miniaturized, and flexible endoscopic robots. This approach has grown considerably in the recent years finding applications in numerous surgical disciplines. In contrast to conventional robotic structures, CTR kinematics arise many challenges for an optimal control, such as friction, torsion, shear, and nonlinear constitutive behavior. In fact, in order to ensure efficient and reliable control, in addition to computing an analytical and complete kinematic model, it is also important to close the control loop. To do this, we developed an eye-in-hand visual servoing scheme using a millimeter-sized camera embedded at the robot's tip. Both the kinematic model and the visual servoing controller were successfully validated in simulation with visual servoing platform and using an experimental setup. The obtained results showed satisfactory performances for three-degrees of freedom positioning and path following tasks with adaptive gain control.
AB - This letter deals with the development of a vision-based controller for a continuum robot architecture. More precisely, the controlled robotic structure is based on three-tube concentric tube robot (CTR), an emerging paradigm to design accurate, miniaturized, and flexible endoscopic robots. This approach has grown considerably in the recent years finding applications in numerous surgical disciplines. In contrast to conventional robotic structures, CTR kinematics arise many challenges for an optimal control, such as friction, torsion, shear, and nonlinear constitutive behavior. In fact, in order to ensure efficient and reliable control, in addition to computing an analytical and complete kinematic model, it is also important to close the control loop. To do this, we developed an eye-in-hand visual servoing scheme using a millimeter-sized camera embedded at the robot's tip. Both the kinematic model and the visual servoing controller were successfully validated in simulation with visual servoing platform and using an experimental setup. The obtained results showed satisfactory performances for three-degrees of freedom positioning and path following tasks with adaptive gain control.
KW - Concentric tube robot
KW - CTR kinematics
KW - eye-in-hand visual servoing
KW - medical application
KW - model-based control
UR - http://www.scopus.com/inward/record.url?scp=85053522792&partnerID=8YFLogxK
U2 - 10.1109/LRA.2018.2807592
DO - 10.1109/LRA.2018.2807592
M3 - Article
AN - SCOPUS:85053522792
VL - 3
SP - 2315
EP - 2321
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
SN - 2377-3766
IS - 3
ER -