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Electromagnetic Positioning for Tip Tracking and Shape Sensing of Flexible Robots
IEEE SENSORS JOURNAL, VOL. 15, NO. 8, AUGUST 2015 4565
Electromagnetic Positioning for Tip Tracking and
Shape Sensing of Flexible Robots
Shuang Song, Zheng Li, Member, IEEE, Haoyong Yu, Member, IEEE, and Hongliang Ren, Member, IEEE
Abstract— Wire-driven flexible robots are efficient devices for
minimally invasive surgery, since they can work well in complex
and confined environments. However, the real-time positional
and shape information of the robot cannot be well estimated,
especially when there is an unknown payload or force working
on the end effector. In this paper, we propose a novel tip
tracking and shape sensing method for wire-driven flexible
robots. The proposed method is based on the length of each
section of the robot as well as the positional and directional
information of the distal end of each section of the robot. For
each section, an electromagnetic sensor will be mounted at the
distal end to estimate the positional and directional information.
A reconstruction algorithm, which is based on a three-order
Bézier curve, is carried out utilizing the positional and directional
information along with the length information of the section.
This method provides the advantage of good tracking results
and high shape reconstruction accuracy with limited modification
to the robot. Compared with other reconstruction methods,
no kinematic model is needed for reconstruction. Therefore, this
method works well with an unknown payload that applied at
the tip of the robot. The feasibility of the proposed method is
verified by simulation and experimental results.
Index Terms— Bézier curve, electromagnetic tracking,
wire-driven flexible robot, shape sensing.
I. INTRODUCTION
FLEXIBLE robots, such as wire (or tendon or cable) drivenmanipulators [1]–[4] and concentric tube robots [5], [6]
have been widely studied for the use in minimally invasive
surgery [7]. During a surgical operation, flexible robots may
interact with tissue. Tissue will affect the position and shape
o
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