ICRA 2012 Paper Abstract

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Paper TuB06.5

Segreti, Sean M. (University of Maryland), Kutzer, Michael Dennis Mays (Johns Hopkins University Applied Physics Laboratory), Murphy, Ryan Joseph (Johns Hopkins University Applied Physics Laboratory), Armand, Mehran (Johns Hopkins University Applied Physics Laboratory)

Cable Length Estimation for a Compliant Surgical Manipulator

Scheduled for presentation during the Regular Session "Minimally invasive interventions I" (TuB06), Tuesday, May 15, 2012, 11:30−11:45, Meeting Room 6 (Oya'te)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Medical Robots and Systems, Tendon/Wire Mechanism, Underactuated Robots

Abstract

This paper presents a method for estimating drive cable length in an underactuated, hyper-redundant, snake-like manipulator. The continuum manipulator was designed for the surgical removal of osteolysis behind total hip arthroplasties. Two independently actuated cables in a pull-pull configuration control the compliant manipulator in a single plane. Using a previously developed kinematic model, we present a method for estimating drive cable displacement for a given manipulator configuration. This calibrated function is then inverted to explore the ability to achieve local manipulator configurations from prescribed drive cable displacements without the use of continuous visual feedback. Results demonstrate an effectiveness in predicting drive cable lengths from manipulator configurations. Preliminary results also show an ability to achieve manipulator configurations from prescribed cable lengths with reasonable accuracy without continuous visual feedback.

 

 

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