Stiffness Control of Surgical Continuum Manipulators
Identifieur interne : 002B10 ( Ncbi/Merge ); précédent : 002B09; suivant : 002B11Stiffness Control of Surgical Continuum Manipulators
Auteurs : Mohsen Mahvash ; Pierre E. DupontSource :
- IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society [ 1552-3098 ] ; 2011.
Abstract
This paper introduces the first stiffness controller for continuum robots. The control law is based on an accurate approximation of a continuum robot’s coupled kinematic and static force model. To implement a desired tip stiffness, the controller drives the actuators to positions corresponding to a deflected robot configuration that produces the required tip force for the measured tip position. This approach provides several important advantages. First, it enables the use of robot deflection sensing as a means to both sense and control tip forces. Second, it enables stiffness control to be implemented by modification of existing continuum robot position controllers. The proposed controller is demonstrated experimentally in the context of a concentric tube robot. Results show that the stiffness controller achieves the desired stiffness in steady state, provides good dynamic performance, and exhibits stability during contact transitions.
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DOI: 10.1109/TRO.2011.2105410
PubMed: 24273466
PubMed Central: 3837630
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<pmc-dir>properties manuscript</pmc-dir>
<front><journal-meta><journal-id journal-id-type="nlm-journal-id">101514509</journal-id><journal-id journal-id-type="pubmed-jr-id">36499</journal-id><journal-id journal-id-type="nlm-ta">IEEE Trans Robot</journal-id><journal-id journal-id-type="iso-abbrev">IEEE Trans Robot</journal-id><journal-title-group><journal-title>IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society</journal-title></journal-title-group><issn pub-type="ppub">1552-3098</issn><issn pub-type="epub">1941-0468</issn></journal-meta><article-meta><article-id pub-id-type="pmid">24273466</article-id><article-id pub-id-type="pmc">3837630</article-id><article-id pub-id-type="doi">10.1109/TRO.2011.2105410</article-id><article-id pub-id-type="manuscript">NIHMS454732</article-id><article-categories><subj-group subj-group-type="heading"><subject>Article</subject></subj-group></article-categories><title-group><article-title>Stiffness Control of Surgical Continuum Manipulators</article-title></title-group><contrib-group><contrib contrib-type="author"><name><surname>Mahvash</surname><given-names>Mohsen</given-names></name><role>Member, IEEE</role><aff id="A1">Harvard Medical School, Brigham and Women’s Hospital and the Cardiac Surgery Department, Veterans Affairs Boston Healthcare System, West Roxbury, MA 02132 USA</aff><email>mahvash@hms.harvard.edu</email></contrib><contrib contrib-type="author"><name><surname>Dupont</surname><given-names>Pierre E.</given-names></name><role>Fellow, IEEE</role><aff id="A2">Department of Cardiac Surgery, Children’s Hospital Boston, Harvard Medical School, Boston, MA 02115 USA</aff><email>pierre.dupont@childrens.harvard.edu</email></contrib></contrib-group><pub-date pub-type="nihms-submitted"><day>21</day><month>3</month><year>2013</year></pub-date><pub-date pub-type="ppub"><month>4</month><year>2011</year></pub-date><pub-date pub-type="pmc-release"><day>22</day><month>11</month><year>2013</year></pub-date><volume>27</volume><issue>2</issue><elocation-id>10.1109/TRO.2011.2105410</elocation-id><permissions><copyright-statement>© 2011 IEEE</copyright-statement><copyright-year>2011</copyright-year></permissions><self-uri xlink:href="http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=5714753"></self-uri><abstract><p id="P1">This paper introduces the first stiffness controller for continuum robots. The control law is based on an accurate approximation of a continuum robot’s coupled kinematic and static force model. To implement a desired tip stiffness, the controller drives the actuators to positions corresponding to a deflected robot configuration that produces the required tip force for the measured tip position. This approach provides several important advantages. First, it enables the use of robot deflection sensing as a means to both sense and control tip forces. Second, it enables stiffness control to be implemented by modification of existing continuum robot position controllers. The proposed controller is demonstrated experimentally in the context of a concentric tube robot. Results show that the stiffness controller achieves the desired stiffness in steady state, provides good dynamic performance, and exhibits stability during contact transitions.</p></abstract><kwd-group><title>Index Terms</title><kwd>Concentric tube robot</kwd><kwd>continuum robot</kwd><kwd>Cosserat rod</kwd><kwd>kinematics</kwd><kwd>stiffness control</kwd></kwd-group><funding-group><award-group><funding-source country="United States">National Heart, Lung, and Blood Institute : NHLBI</funding-source><award-id>R01 HL087797 || HL</award-id></award-group><award-group><funding-source country="United States">National Heart, Lung, and Blood Institute : NHLBI</funding-source><award-id>R01 HL073647 || HL</award-id></award-group></funding-group></article-meta></front></pmc><affiliations><list></list><tree><noCountry><name sortKey="Dupont, Pierre E" sort="Dupont, Pierre E" uniqKey="Dupont P" first="Pierre E." last="Dupont">Pierre E. Dupont</name><name sortKey="Mahvash, Mohsen" sort="Mahvash, Mohsen" uniqKey="Mahvash M" first="Mohsen" last="Mahvash">Mohsen Mahvash</name></noCountry></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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