Active compliance and force estimation of a continuum surgical manipulator based on the tip-pose feedback  

作　　者：WU BaiBo ZHOU Chang WANG Xiang SUN DaWei XU Kai 

机构地区：[1]School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China [2]Department of Gynaecology and Obstetrics,Peking Union Medical College Hospital,Beijing 100730,China

出　　处：《Science China(Technological Sciences)》2023年第9期2517-2529,共13页中国科学（技术科学英文版）

基　　金：supported by the National Key Research and Development Program of China(Grant No.2022YFB4700900);the National Natural Science Foundation of China(Grant No.51722507)。

摘　　要：Continuum manipulators have been applied in different surgical scenarios due to their dexterity and multi-DoF(degree of freedom)design compactness.To improve surgery safety,it is preferable to enable active compliance and force sensing abilities for a continuum manipulator.Existing works on active compliance and force sensing often rely on force sensors at the proximal or the distal ends,which inevitably increases the system complexity.In this paper,a shape reconstruction algorithm,a compliant motion controller,and a force estimation method are proposed successively based on the manipulator's tip pose via visual feedback.Four support vector regression(SVR)trainers are constructed and trained to compensate for the actuation residues,which are the differences between the actual actuation lengths outputs at the actuators and the ideal actuation lengths calculated from the estimated shape using the kinematics model,under no-load condition.Then,a compliant motion controller and a force estimation method are realized based on the current actuation residues,compared with the actuation residues under the no-load condition.In this way,no additional sensors are needed as an endoscopic camera is often available in a laparoscopic or endoscopic surgical system.The experiments were conducted on aφ3 mm-continuum manipulator to demonstrate the effectiveness of the proposed algorithms.

关 键 词：continuum manipulator vision feedback shape reconstruction compliant motion control force estimation 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TH77[自动化与计算机技术—控制科学与工程]