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Virtual-Work Based Shape-Force Sensing for Continuum Instruments with Tension-Feedback Actuation

2025-01-09 18:20:57
Guoqing Zhang, Zihan Chen, Long Wang

Abstract

Continuum instruments are integral to robot-assisted minimally invasive surgery (MIS), with tendon-driven mechanisms being the most common. Real-time tension feedback is crucial for precise articulation but remains a challenge in compact actuation unit designs. Additionally, accurate shape and external force sensing of continuum instruments are essential for advanced control and manipulation. This paper presents a compact and modular actuation unit that integrates a torque cell directly into the pulley module to provide real-time tension feedback. Building on this unit, we propose a novel shape-force sensing framework that incorporates polynomial curvature kinematics to accurately model non-constant curvature. The framework combines pose sensor measurements at the instrument tip and actuation tension feedback at the developed actuation unit. Experimental results demonstrate the improved performance of the proposed shape-force sensing framework in terms of shape reconstruction accuracy and force estimation reliability compared to conventional constant-curvature methods.

Abstract (translated)

连续体仪器在机器人辅助的微创手术(MIS)中至关重要,其中腱驱动机制最为常见。实时张力反馈对于精确的操作非常重要,但在紧凑型驱动单元的设计中仍然是一个挑战。此外,对连续体器械进行准确的形状和外部力量感知是实现高级控制和操作所必需的。本文提出了一种集成了扭矩传感器直接到滑轮模块中的小型化、模块化的驱动单元,以提供实时张力反馈。在此基础上,我们提出了一个新的形变-力感测框架,该框架结合了多项式曲率运动学模型来精确模拟非恒定曲率。此框架结合了器械尖端的姿态传感器测量和在新开发的驱动单元中获得的操作张力反馈。 实验结果表明,在形状重建准确性和力量估计可靠性方面,所提出的形变-力感测框架相较于传统恒定曲率方法有了显著改善。

URL

https://arxiv.org/abs/2501.05418

PDF

https://arxiv.org/pdf/2501.05418.pdf


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