Real-time adaptive kinematic model estimation of concentric tube robots

Chunwoo Kim; Seok Chang Ryu; Pierre E. Dupont

doi:10.1109/IROS.2015.7353823

Real-time adaptive kinematic model estimation of concentric tube robots

Chunwoo Kim, Seok Chang Ryu, Pierre E. Dupont

Division of Mechanical and Biomedical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

20 Scopus citations

Abstract

Kinematic models of concentric tube robots have matured from considering only tube bending to considering tube twisting as well as external loading. While these models have been demonstrated to approximate actual behavior, modeling error can be significant for medical applications that often call for positioning accuracy of 1-2mm. As an alternative to moving to more complex models, this paper proposes using sensing to adaptively update model parameters during robot operation. Advantages of this method are that the model is constantly tuning itself to provide high accuracy in the region of the workspace where it is currently operating. It also adapts automatically to changes in robot shape and compliance associated with the insertion and removal of tools through its lumen. As an initial exploration of this approach, a recursive on-line estimator is proposed and evaluated experimentally.

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
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3214-3219
Number of pages	6
ISBN (Electronic)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7353823
State	Published - 11 Dec 2015
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: 28 Sep 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

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Country/Territory	Germany
City	Hamburg
Period	28/09/15 → 2/10/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Access to Document

10.1109/IROS.2015.7353823

Cite this

Kim, C., Ryu, S. C., & Dupont, P. E. (2015). Real-time adaptive kinematic model estimation of concentric tube robots. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3214-3219). Article 7353823 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7353823

Kim, Chunwoo ; Ryu, Seok Chang ; Dupont, Pierre E. / Real-time adaptive kinematic model estimation of concentric tube robots. IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 3214-3219 (IEEE International Conference on Intelligent Robots and Systems).

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title = "Real-time adaptive kinematic model estimation of concentric tube robots",

abstract = "Kinematic models of concentric tube robots have matured from considering only tube bending to considering tube twisting as well as external loading. While these models have been demonstrated to approximate actual behavior, modeling error can be significant for medical applications that often call for positioning accuracy of 1-2mm. As an alternative to moving to more complex models, this paper proposes using sensing to adaptively update model parameters during robot operation. Advantages of this method are that the model is constantly tuning itself to provide high accuracy in the region of the workspace where it is currently operating. It also adapts automatically to changes in robot shape and compliance associated with the insertion and removal of tools through its lumen. As an initial exploration of this approach, a recursive on-line estimator is proposed and evaluated experimentally.",

author = "Chunwoo Kim and Ryu, {Seok Chang} and Dupont, {Pierre E.}",

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Kim, C, Ryu, SC & Dupont, PE 2015, Real-time adaptive kinematic model estimation of concentric tube robots. in IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems., 7353823, IEEE International Conference on Intelligent Robots and Systems, vol. 2015-December, Institute of Electrical and Electronics Engineers Inc., pp. 3214-3219, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 28/09/15. https://doi.org/10.1109/IROS.2015.7353823

Real-time adaptive kinematic model estimation of concentric tube robots. / Kim, Chunwoo; Ryu, Seok Chang; Dupont, Pierre E.
IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2015. p. 3214-3219 7353823 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - Kinematic models of concentric tube robots have matured from considering only tube bending to considering tube twisting as well as external loading. While these models have been demonstrated to approximate actual behavior, modeling error can be significant for medical applications that often call for positioning accuracy of 1-2mm. As an alternative to moving to more complex models, this paper proposes using sensing to adaptively update model parameters during robot operation. Advantages of this method are that the model is constantly tuning itself to provide high accuracy in the region of the workspace where it is currently operating. It also adapts automatically to changes in robot shape and compliance associated with the insertion and removal of tools through its lumen. As an initial exploration of this approach, a recursive on-line estimator is proposed and evaluated experimentally.

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Kim C, Ryu SC, Dupont PE. Real-time adaptive kinematic model estimation of concentric tube robots. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2015. p. 3214-3219. 7353823. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2015.7353823

Real-time adaptive kinematic model estimation of concentric tube robots

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