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Model-Based Error Correction for Flexible Robotic Surgical Instruments 基于模型的柔性机器人手术器械误差校正
Robotics science and systems : online proceedings Pub Date : 2005-06-08 DOI: 10.15607/RSS.2005.I.047
Ryan A. Beasley, R. Howe
{"title":"Model-Based Error Correction for Flexible Robotic Surgical Instruments","authors":"Ryan A. Beasley, R. Howe","doi":"10.15607/RSS.2005.I.047","DOIUrl":"https://doi.org/10.15607/RSS.2005.I.047","url":null,"abstract":"Robots promise to enhance minimally-invasive surgery, but flexion of the thin instrument shaft introduces error into models of the robot kinematics. Visual or electromagnetic tracking of the instrument tip provides correct forward kinematics, but uncertainty in shaft bending and port location leaves residual errors in inverse kinematics. These errors can cause incorrect motions that preclude the use of image-guidance tools. This paper proposes a model-based controller to correct the commanded motions. Comparison with a controller assuming a straight instrument shaft quantifies motion errors resulting from the use of a straight shaft controller. Analysis of the flexed shaft controller shows sensitivity to shaft length, shaft stiffness, tip force, and sensor noise.","PeriodicalId":87357,"journal":{"name":"Robotics science and systems : online proceedings","volume":"22 1","pages":"359-364"},"PeriodicalIF":0.0,"publicationDate":"2005-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84673763","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 14
Roadmap Based Pursuit-Evasion and Collision Avoidance 基于路线图的追逃与避碰
Robotics science and systems : online proceedings Pub Date : 2005-06-08 DOI: 10.15607/RSS.2005.I.034
Volkan Isler, Dengfeng Sun, S. Sastry
{"title":"Roadmap Based Pursuit-Evasion and Collision Avoidance","authors":"Volkan Isler, Dengfeng Sun, S. Sastry","doi":"10.15607/RSS.2005.I.034","DOIUrl":"https://doi.org/10.15607/RSS.2005.I.034","url":null,"abstract":"We study pursuit-evasion games for mobile robots and their applications to collision avoidance. In the first part of the paper, under the assumption that the pursuer and the evader (possibly subject to physical constraints) share the same roadmap to plan their strategies, we present sound and complete strategies for three different games. In the second part, we utilize the pursuit-evasion results to post-process the workspace and/or configuration space and obtain a collision probability map of the environment. Next, we present a probabilistic method to utilize this map and plan trajectories which minimize the collision probability for independent robots.","PeriodicalId":87357,"journal":{"name":"Robotics science and systems : online proceedings","volume":"5 1","pages":"257-264"},"PeriodicalIF":0.0,"publicationDate":"2005-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85318133","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 49
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