Cable length estimation for a compliant surgical manipulator

Sean M. Segreti, Michael D.M. Kutzer, Ryan J. Murphy, Mehran Armand

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

Abstract

This paper presents a method for estimating drive cable length in an underactuated, hyper-redundant, snake-like manipulator. The continuum manipulator was designed for the surgical removal of osteolysis behind total hip arthroplasties. Two independently actuated cables in a pull-pull configuration control the compliant manipulator in a single plane. Using a previously developed kinematic model, we present a method for estimating drive cable displacement for a given manipulator configuration. This calibrated function is then inverted to explore the ability to achieve local manipulator configurations from prescribed drive cable displacements without the use of continuous visual feedback. Results demonstrate an effectiveness in predicting drive cable lengths from manipulator configurations. Preliminary results also show an ability to achieve manipulator configurations from prescribed cable lengths with reasonable accuracy without continuous visual feedback.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages701-708
Number of pages8
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

Keywords

  • Active cannula
  • Dexterous manipulator
  • Flexible manipulator
  • Medical applications
  • Medical robot
  • Snake-like robot

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Cable length estimation for a compliant surgical manipulator'. Together they form a unique fingerprint.

Cite this