An Insertable Low-Cost Continuum Tool for Shape Sensing

被引：0

作者：

Xu, Kai ^{[1
]}

Chen, Yuyang ^{[2
]}

Zhang, Zhaoyu ^{[2
]}

Zhang, Shu'an ^{[2
]}

Xing, Nianzeng ^{[3
]}

Zhu, Xiangyang ^{[1
]}

机构：

[1] Shanghai Jiao Tong Univ, Sch Mech Engn, State Key Lab Mech Syst & Vibrat, Shanghai 200240, Peoples R China

[2] Shanghai Jiao Tong Univ, SJTU Joint Inst, RII Lab Lab Robot Innovat & Intervent, Shanghai 200240, Peoples R China

[3] Capital Med Univ, Beijing Chaoyang Hosp, Dept Urol, Beijing, Peoples R China

来源：

2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017) | 2017年

基金：

中国国家自然科学基金; 国家重点研发计划;

关键词：

TRACKING;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Spatial shape sensing of curved lumens in unknown environments is in great need but challenging. This paper presents the design and experimentation of a low-cost continuum tool that can measure the 3D shapes of internal lumens of a structure, simply by inserting the tool into the lumens. Based on the tool's kinematics model, the shape sensing is achieved by constantly monitoring the outputs on the tool's backbones and the longitudinal motion along the lumen during the insertion. After calibration, the spatial shape of a curved lumen was successfully sensed by the continuum tool. The experimental results demonstrated the effectiveness of the proposed idea.

引用

页码：2044 / 2049

页数：6

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