Details
| Original language | English |
|---|---|
| Title of host publication | IROS Hamburg 2015 - Conference Digest |
| Subtitle of host publication | IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Place of Publication | Hamburg, Germany |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 3195-3201 |
| Number of pages | 7 |
| ISBN (electronic) | 9781479999941 |
| Publication status | Published - 11 Dec 2015 |
| Event | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: 28 Sept 2015 → 2 Oct 2015 |
Publication series
| Name | IEEE International Conference on Intelligent Robots and Systems |
|---|---|
| Volume | 2015-December |
| ISSN (Print) | 2153-0858 |
| ISSN (electronic) | 2153-0866 |
Abstract
A typical instrument for different tasks in minimally invasive surgery is a flexible endoscope. To overcome the problem of restricted motion of today's systems, a hyper-redundant active shaft concept is developed. It features good resistance with respect to manipulation forces through its unique binary, electromagnetic actuation concept. With an active control of each element of the hyper-redundant endoscope shaft and in combination with automated feed motion, it is controlled in a 'follow-the-leader' fashion. In general, this approach is characterized by very good path following capabilities. However, due to its binary actuation concept, joint angles cannot be interpolated continuously. Therefore, an adaption to binary actuation with optimized switching sequences to achieve an appropriate path following performance despite of the restricted motion is proposed.
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Software
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Computer Science Applications
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IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Hamburg, Germany: Institute of Electrical and Electronics Engineers Inc., 2015. p. 3195-3201 7353820 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Towards a follow-the-leader control for a binary actuated hyper-redundant manipulator
AU - Tappe, Svenja
AU - Pohlmann, Jan
AU - Kotlarski, Jens
AU - Ortmaier, Tobias
PY - 2015/12/11
Y1 - 2015/12/11
N2 - A typical instrument for different tasks in minimally invasive surgery is a flexible endoscope. To overcome the problem of restricted motion of today's systems, a hyper-redundant active shaft concept is developed. It features good resistance with respect to manipulation forces through its unique binary, electromagnetic actuation concept. With an active control of each element of the hyper-redundant endoscope shaft and in combination with automated feed motion, it is controlled in a 'follow-the-leader' fashion. In general, this approach is characterized by very good path following capabilities. However, due to its binary actuation concept, joint angles cannot be interpolated continuously. Therefore, an adaption to binary actuation with optimized switching sequences to achieve an appropriate path following performance despite of the restricted motion is proposed.
AB - A typical instrument for different tasks in minimally invasive surgery is a flexible endoscope. To overcome the problem of restricted motion of today's systems, a hyper-redundant active shaft concept is developed. It features good resistance with respect to manipulation forces through its unique binary, electromagnetic actuation concept. With an active control of each element of the hyper-redundant endoscope shaft and in combination with automated feed motion, it is controlled in a 'follow-the-leader' fashion. In general, this approach is characterized by very good path following capabilities. However, due to its binary actuation concept, joint angles cannot be interpolated continuously. Therefore, an adaption to binary actuation with optimized switching sequences to achieve an appropriate path following performance despite of the restricted motion is proposed.
UR - http://www.scopus.com/inward/record.url?scp=84958165042&partnerID=8YFLogxK
U2 - 10.1109/iros.2015.7353820
DO - 10.1109/iros.2015.7353820
M3 - Conference contribution
AN - SCOPUS:84958165042
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3195
EP - 3201
BT - IROS Hamburg 2015 - Conference Digest
PB - Institute of Electrical and Electronics Engineers Inc.
CY - Hamburg, Germany
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Y2 - 28 September 2015 through 2 October 2015
ER -