Closed-Loop Pose Control and Automated Suturing of Continuum Surgical Manipulators With Customized Wrist Markers Under Stereo Vision | IEEE Journals & Magazine | IEEE Xplore

Closed-Loop Pose Control and Automated Suturing of Continuum Surgical Manipulators With Customized Wrist Markers Under Stereo Vision


Abstract:

The use of continuum manipulators in surgical applications can be beneficial because of their inherent safety from their structural compliance. However, the tip pose (pos...Show More

Abstract:

The use of continuum manipulators in surgical applications can be beneficial because of their inherent safety from their structural compliance. However, the tip pose (position and orientation) accuracy of a continuum manipulator can be low when an external load or disturbance is applied. Closed-loop pose control is preferred to improve the pose accuracy. Considering the requirements stemmed from sterilization and medical device electromagnetic compatibility, the approach of fully utilizing the vision feedback from a stereo endoscopic camera for such a closed-loop pose controller is adopted. Wrist markers are attached to the end-effectors of the surgical continuum manipulators for pose information detection. And these wrist markers are designed in a well-considered way to generate enough variants. The closed-loop pose controller is then designed based on a stereo vision tracking algorithm that detects the position and orientation of the wrist marker. A switching feature is also incorporated into the controller to handle the situation when the closed-loop control is disrupted due to the visual occlusion or the operation transition in dual-arm manipulation. Experimental verification showed that the average errors of the pose feedback are 0.65 mm for the position and 1.05° for the orientation. The experiments of trajectory following under a 120-gram external load and automated dual-arm suturing were also conducted to verify the effectiveness of the proposed controller.
Published in: IEEE Robotics and Automation Letters ( Volume: 6, Issue: 4, October 2021)
Page(s): 7137 - 7144
Date of Publication: 14 July 2021

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