Learning to Detect Collisions for Continuum Manipulators Without a Prior Model

Shahriar Sefati, Shahin Sefati, Iulian Iordachita, Russell H. Taylor, Mehran Armand

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

Abstract

Due to their flexibility, dexterity, and compact size, Continuum Manipulators (CMs) can enhance minimally invasive interventions. In these procedures, the CM may be operated in proximity of sensitive organs; therefore, requiring accurate and appropriate feedback when colliding with their surroundings. Conventional CM collision detection algorithms rely on a combination of exact CM constrained kinematics model, geometrical assumptions such as constant curvature behavior, a priori knowledge of the environmental constraint geometry, and/or additional sensors to scan the environment or sense contacts. In this paper, we propose a data-driven machine learning approach using only the available sensory information, without requiring any prior geometrical assumptions, model of the CM or the surrounding environment. The proposed algorithm is implemented and evaluated on a non-constant curvature CM, equipped with Fiber Bragg Grating (FBG) optical sensors for shape sensing purposes. Results demonstrate successful detection of collisions in constrained environments with soft and hard obstacles with unknown stiffness and location.

Original languageEnglish (US)
Title of host publicationMedical Image Computing and Computer Assisted Intervention – MICCAI 2019 - 22nd International Conference, Proceedings
EditorsDinggang Shen, Pew-Thian Yap, Tianming Liu, Terry M. Peters, Ali Khan, Lawrence H. Staib, Caroline Essert, Sean Zhou
PublisherSpringer
Pages182-190
Number of pages9
ISBN (Print)9783030322533
DOIs
Publication statusPublished - Jan 1 2019
Event22nd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2019 - Shenzhen, China
Duration: Oct 13 2019Oct 17 2019

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11768 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference22nd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2019
CountryChina
CityShenzhen
Period10/13/1910/17/19

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Keywords

  • Collision detection
  • Continuum Manipulator
  • Machine learning
  • Minimal invasive surgery

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Sefati, S., Sefati, S., Iordachita, I., Taylor, R. H., & Armand, M. (2019). Learning to Detect Collisions for Continuum Manipulators Without a Prior Model. In D. Shen, P-T. Yap, T. Liu, T. M. Peters, A. Khan, L. H. Staib, C. Essert, ... S. Zhou (Eds.), Medical Image Computing and Computer Assisted Intervention – MICCAI 2019 - 22nd International Conference, Proceedings (pp. 182-190). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11768 LNCS). Springer. https://doi.org/10.1007/978-3-030-32254-0_21