Murphy Ryan J, Armand Mehran
Annu Int Conf IEEE Eng Med Biol Soc. 2015;2015:5268-71. doi: 10.1109/EMBC.2015.7319580.
Reliably estimating the shape of variable curvature continuum dexterous manipulators (CDMs) is necessary to use these devices in biomedical applications. Embedding shape-sensing elements have been shown to effectively measure the shape of constant curvature CDMs. This paper explores several methods for estimating the configuration of variable curvature CDMs. Experiments bent the CDM in varying configurations, applied an external load, and measured the configuration. Three methods are described that use the measurements from simulated shape-sensing elements. Analyses included varying the number and placement of the shape sensors. The results showed at least three shape-sensing elements are necessary to predict manipulator configuration, with one method demonstrating average error less than 0.35 mm for a CDM under an external load. The presented techniques offer promise for successfully predicting, tracking, and controlling CDM configuration during surgery.
为了在生物医学应用中使用可变曲率连续体灵巧操纵器（CDM），可靠地估计其形状是必要的。已证明嵌入形状传感元件能有效测量恒定曲率CDM的形状。本文探索了几种估计可变曲率CDM配置的方法。实验将CDM弯曲成不同配置，施加外部负载，并测量其配置。描述了三种使用模拟形状传感元件测量值的方法。分析包括改变形状传感器的数量和位置。结果表明，至少需要三个形状传感元件来预测操纵器配置，其中一种方法表明，在外部负载下，CDM的平均误差小于0.35毫米。所提出的技术为在手术过程中成功预测、跟踪和控制CDM配置提供了希望。
