Contact Localization of Continuum and Flexible Robot Using Data-Driven Approach

摘要

Continuum robots such as robotic catheters are increasingly being used in minimally invasive surgery. Compliance contributes to enhanced safety during e.g. catheter insertion, however, estimation of contact force and location may help clinicians avoiding exerting excessive force. Ultimately this could lead to faster and safer interventions. Researchers proposed force sensors integrated in the catheter tip in the past. However, such sensors add extra complexity to the catheter design. Also, tip force sensors do not provide insights on forces that act along the catheter length. This paper proposes a data-driven approach for localizing contact forces that appear over the length of the catheter. The proposed approach consists of a collision detection method and a contact localization method. The framework only requires the measurement of the catheter’s shape which can be done by an embedded multi-core Fiber Bragg Grating fiber. The method was validated experimentally with a 3D-printed continuum robot with an integrated multi-core fiber. A second contact localization method which is based on identifying the discontinuity in the measured curvature, is also implemented and compared with the proposed method. The static and dynamic experiments show a mean average localization error of 2.3 mm and 4.3 mm which correspond to respectively 3.3% and 6.1% of a 70 mm long flexible robot. These findings demonstrate that the proposed framework outperforms the previous methods and yield promising results. The contact state estimation algorithm can detect collisions in at most approximately <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\text{1.08}\,\text{s}$</tex-math></inline-formula> .