Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

Accurate shape estimation of concentric tube robots (CTRs) using mathematical models remains a challenge, reinforcing the need to develop techniques for accurate and real-time shape sensing of CTRs. In this paper, we develop a fusion algorithm that predicts the robot's shape by combining a mathematical model of the CTR with a measurement of the Cartesian coordinates of the robot's tip using an electro-magnetic sensor. We experimentally validated our method in static and dynamic scenarios with and without external loading. Results demonstrated that the fusion algorithm improves the error of model-based shape prediction by an average of 44.3%, corresponding to 2.43% of the robot's arc length. Furthermore, we demonstrate that our method can be used in real-time to simultaneously track the robot's tip position and predict its shape.
Original languageEnglish
Title of host publication2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Pages3972-3978
Number of pages7
ISBN (Electronic)978-1-6654-7927-1
ISBN (Print)978-1-6654-7928-8
DOIs
Publication statusPublished - 26 Dec 2022
EventIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022): IROS Kyoto 2022 - Japan, Kyoto, Japan
Duration: 23 Oct 202227 Oct 2022
https://iros2022.org/

Publication series

Name
PublisherIEEE
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)
Country/TerritoryJapan
CityKyoto
Period23/10/2227/10/22
Internet address

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