Eye-in-Hand Visual Servoing of Concentric Tube Robots

authored by: Andrey V. Kudryavtsev, Mohamed Taha Chikhaoui, Aleksandr Liadov, Patrick Rougeot, Fabien Spindler, Kanty Rabenorosoa, Jessica Burgner-Kahrs, Brahim Tamadazte, Nicolas Andreff
Abstract: This letter deals with the development of a vision-based controller for a continuum robot architecture. More precisely, the controlled robotic structure is based on three-tube concentric tube robot (CTR), an emerging paradigm to design accurate, miniaturized, and flexible endoscopic robots. This approach has grown considerably in the recent years finding applications in numerous surgical disciplines. In contrast to conventional robotic structures, CTR kinematics arise many challenges for an optimal control, such as friction, torsion, shear, and nonlinear constitutive behavior. In fact, in order to ensure efficient and reliable control, in addition to computing an analytical and complete kinematic model, it is also important to close the control loop. To do this, we developed an eye-in-hand visual servoing scheme using a millimeter-sized camera embedded at the robot's tip. Both the kinematic model and the visual servoing controller were successfully validated in simulation with visual servoing platform and using an experimental setup. The obtained results showed satisfactory performances for three-degrees of freedom positioning and path following tasks with adaptive gain control.
Organisation(s): Chair in Continuum Robotics
Institute of Continuum Mechanics
External Organisation(s): University of Burgundy
Centre national de la recherche scientifique (CNRS)
Type: Article
Journal: IEEE Robotics and Automation Letters
Volume: 3
Pages: 2315-2321
No. of pages: 7
ISSN: 2377-3766
Publication date: 07.2018
Publication status: Published
Peer reviewed: Yes
ASJC Scopus subject areas: Control and Systems Engineering, Biomedical Engineering, Human-Computer Interaction, Mechanical Engineering, Computer Vision and Pattern Recognition, Computer Science Applications, Control and Optimization, Artificial Intelligence
Electronic version(s): https://hal.inria.fr/hal-01853980/file/2018_ral_kudryavtesv.pdf (Access: Open)
https://doi.org/10.1109/LRA.2018.2807592 (Access: Closed)
: Details in the research portal "Research@Leibniz University"

BibTeX

@article{163b490b21c94dd2b284a45645f13ba5,
title = "Eye-in-Hand Visual Servoing of Concentric Tube Robots",
abstract = "This letter deals with the development of a vision-based controller for a continuum robot architecture. More precisely, the controlled robotic structure is based on three-tube concentric tube robot (CTR), an emerging paradigm to design accurate, miniaturized, and flexible endoscopic robots. This approach has grown considerably in the recent years finding applications in numerous surgical disciplines. In contrast to conventional robotic structures, CTR kinematics arise many challenges for an optimal control, such as friction, torsion, shear, and nonlinear constitutive behavior. In fact, in order to ensure efficient and reliable control, in addition to computing an analytical and complete kinematic model, it is also important to close the control loop. To do this, we developed an eye-in-hand visual servoing scheme using a millimeter-sized camera embedded at the robot's tip. Both the kinematic model and the visual servoing controller were successfully validated in simulation with visual servoing platform and using an experimental setup. The obtained results showed satisfactory performances for three-degrees of freedom positioning and path following tasks with adaptive gain control.",
keywords = "Concentric tube robot, CTR kinematics, eye-in-hand visual servoing, medical application, model-based control",
author = "Kudryavtsev, {Andrey V.} and Chikhaoui, {Mohamed Taha} and Aleksandr Liadov and Patrick Rougeot and Fabien Spindler and Kanty Rabenorosoa and Jessica Burgner-Kahrs and Brahim Tamadazte and Nicolas Andreff",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.",
year = "2018",
month = jul,
doi = "10.1109/LRA.2018.2807592",
language = "English",
volume = "3",
pages = "2315--2321",
journal = "IEEE Robotics and Automation Letters",
issn = "2377-3766",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "3",
}