Estimating the configuration of a continuum dexterous manipulator with variable curvature bending using partial...

Area of Science:

• Robotics
• Biomedical Engineering
• Mechanical Engineering

Background:

• Continuum Dexterous Manipulators (CDMs) with variable curvature are essential for intricate biomedical applications.
• Accurate shape estimation is critical for the safe and effective deployment of CDMs in surgery.
• Existing shape-sensing methods are effective for constant curvature CDMs but not for variable curvature designs.

Purpose of the Study:

• To explore and evaluate methods for estimating the configuration of variable curvature CDMs.
• To determine the optimal number and placement of embedded shape-sensing elements for accurate shape prediction.
• To assess the performance of these methods under external loading conditions.

Main Methods:

• Simulated shape-sensing elements were embedded within a variable curvature CDM.
• The CDM was manipulated into various configurations and subjected to external loads.
• Measurements from simulated sensors were used to test three distinct configuration estimation algorithms.
• Analyses varied the number and placement of simulated shape sensors.

Main Results:

• A minimum of three shape-sensing elements are required for reliable manipulator configuration prediction.
• One proposed method achieved an average error of less than 0.35 mm for a CDM under external load.
• The placement and number of sensors significantly impact the accuracy of shape estimation.

Conclusions:

• The developed techniques show significant promise for predicting, tracking, and controlling the configuration of variable curvature CDMs.
• These advancements are vital for enhancing the precision and safety of robotic surgery.
• Further research can optimize sensor integration and control algorithms for clinical translation.