Year: 2005
Type: conference-paper
Abstract: Robots promise to enhance minimally-invasive surgery, but flexion of the thin instrument shaft introduces error into models of the robot kinematics.Visual or electromagnetic tracking of the instrument tip provides correct forward kinematics, but uncertainty in shaft bending and port location leaves residual errors in inverse kinematics.These errors can cause incorrect motions that preclude the use of image-guidance tools.This paper proposes a model-based controller to correct the commanded motions.Comparison with a controller assuming a straight instrument shaft quantifies motion errors resulting from the use of a straight shaft controller.Analysis of the flexed shaft controller shows sensitivity to shaft length, shaft stiffness, tip force, and sensor noise.
Source: Robotics: Science and Systems
Authors: Ryan A. Beasley, Robert D. Howe
Institution: Harvard University
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: bronze
OpenAlex ID: W1535473159