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Operation of the Collaborative Composite Manufacturing CCM System

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Visual servoing of continuum robots: Methods, challenges, and prospects.

Ali A Nazari¹, Kourosh Zareinia¹, Farrokh Janabi-Sharifi¹

¹Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Ontario, Canada.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|February 24, 2022

Summary

This summary is machine-generated.

This survey explores visual servoing (VS) for continuum robots (CRs), highlighting challenges with physical sensors and the benefits of non-contact imaging for precise control in medical applications.

Keywords:

continuum robot medical robot minimally invasive surgery soft robot visual servo control visual servoing

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Area of Science:

Robotics
Control Systems
Computer Vision

Background:

Continuum robots (CRs) require advanced controllers for shape deformation and compliance.
Physical sensors in CRs face limitations in accuracy and localization, especially in confined spaces.
Non-contact imaging sensors offer a promising alternative for CR control, particularly in medical settings.

Purpose of the Study:

To survey existing visual servoing (VS) methods for continuum robots (CRs).
To identify current challenges and future opportunities in VS for CRs.
To emphasize the importance of VS for safe human-robot interaction.

Main Methods:

Review of actuation modalities and modeling approaches for CRs.
Investigation of VS methods applied in both medical and non-medical scenarios.
Analysis of research focusing on direct robot tip control despite kinematic and dynamic uncertainties.

Main Results:

VS methods are increasingly adopted for CRs due to limitations of traditional sensors.
The survey covers diverse VS applications, from medical procedures to other fields.
Actuation and modeling strategies are foundational to effective VS implementation.

Conclusions:

Visual servoing presents significant challenges and opportunities for continuum robots.
Further research is needed to refine VS techniques for enhanced CR performance and safety.
The future of CRs likely involves sophisticated vision-based control systems.