Continuum Robot Shape Estimation Using Magnetic Ball Chains
Fuente:
arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Acceso en línea: | |
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| _version_ | 1866909357725188096 |
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| author | Pittiglio, Giovanni Donder, Abdulhamit Dupont, Pierre E. |
| author_facet | Pittiglio, Giovanni Donder, Abdulhamit Dupont, Pierre E. |
| contents | Shape sensing of medical continuum robots is important both for closed-loop control as well as for enabling the clinician to visualize the robot inside the body. There is a need for inexpensive, but accurate shape sensing technologies. This paper proposes the use of magnetic ball chains as a means of generating shape-specific magnetic fields that can be detected by an external array of Hall effect sensors. Such a ball chain, encased in a flexible polymer sleeve, could be inserted inside the lumen of any continuum robot to provide real-time shape feedback. The sleeve could be removed, as needed, during the procedure to enable use of the entire lumen. To investigate this approach, a shape-sensing model for a steerable catheter tip is derived and an observability and sensitivity analysis are presented. Experiments show maximum estimation errors of 7.1% and mean of 2.9% of the tip position with respect to total length. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_16025 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Continuum Robot Shape Estimation Using Magnetic Ball Chains Pittiglio, Giovanni Donder, Abdulhamit Dupont, Pierre E. Robotics Systems and Control Shape sensing of medical continuum robots is important both for closed-loop control as well as for enabling the clinician to visualize the robot inside the body. There is a need for inexpensive, but accurate shape sensing technologies. This paper proposes the use of magnetic ball chains as a means of generating shape-specific magnetic fields that can be detected by an external array of Hall effect sensors. Such a ball chain, encased in a flexible polymer sleeve, could be inserted inside the lumen of any continuum robot to provide real-time shape feedback. The sleeve could be removed, as needed, during the procedure to enable use of the entire lumen. To investigate this approach, a shape-sensing model for a steerable catheter tip is derived and an observability and sensitivity analysis are presented. Experiments show maximum estimation errors of 7.1% and mean of 2.9% of the tip position with respect to total length. |
| title | Continuum Robot Shape Estimation Using Magnetic Ball Chains |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2410.16025 |