A New Solution for the Inverse Kinematics of Concentric-Tube Robots

Wang, Jie1; Zhang, Di1; Ma, Tao1; Song, Shuang1; Liu, Wei4; Meng, Max Q. -H.2,3

10.1109/CBS.2018.8612283

2018

978-1-5386-7356-0

2018 IEEE INTERNATIONAL CONFERENCE ON CYBORG AND BIONIC SYSTEMS (CBS)

234-239

25-27 Oct. 2018

Shenzhen, China

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

The continuum tubular robots (CTRs) have shown its superiority in minimally invasive medical procedures. In general, concentric tubes are consist of super-elastic nickel-titanium alloy, they can show different shapes when they extend and rotate with each other. Due to the small diameter and high degree of dexterity, CTR can perform well in complex and limited environments. However, the calculation of the inverse kinematics of concentric tube robots is a difficult problem all the time, especially when the CTRs tubes deform constantly over time. In this paper, we present a new method based on data acquisition, which is proved to be a simple and effective method through simulation and experimental verification. For any single-arm, two-tube concentric tube robots, the corresponding list of the input parameters of CTRs driving part and the tip position of CTR is first collected. And then the inverse kinematics of concentric tube robot can be solved by the algorithm in this paper. This technique can not only deal with the deformation of CTRs, but also offer a different perspective to solve the inverse kinematics problem of concentric tube robots.

concentric-tube robot minimally invasive surgeries inverse kinematics

通讯

英语

CPCI-S ; EI

CUHK VC discretional fund[4930765]

Computer Science ; Robotics

Computer Science, Cybernetics ; Robotics

WOS:000468469300047

20190906562473

Cyborgs ; Data acquisition ; Electric circuit breakers ; Inverse kinematics ; Nickel alloys ; Noninvasive medical procedures ; Robots ; Titanium alloys ; Tubes (components)

Biomedical Engineering:461.1 ; Medicine and Pharmacology:461.6 ; Titanium and Alloys:542.3 ; Nickel Alloys:548.2 ; Pipe, Piping and Pipelines:619.1 ; Data Processing and Image Processing:723.2 ; Robotics:731.5 ; Mechanics:931.1

Web of Science

1.Harbin Inst Technol Shenzhen, Sch Mech Engn & Automat, Shenzhen, Guangdong, Peoples R China
2.Chinese Univ Hong Kong, Dept Elect Engn, Hong Kong, Peoples R China
3.HIT, State Key Lab Robot & Syst, Shenzhen, Guangdong, Peoples R China
4.Southern Univ Sci & Technol, Shenzhen, Peoples R China

Wang, Jie,Zhang, Di,Ma, Tao,et al. A New Solution for the Inverse Kinematics of Concentric-Tube Robots[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2018:234-239.