Adaptive Image-based Positioning of RCM Mechanisms Using Angle and Distance Features
Refereed conference paper presented and published in conference proceedings


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摘要In this paper, we address the positioning problem of remote centre of motion (RCM) mechanisms with uncalibrated image feedback from a monocular camera. Nowadays, RCM mechanisms are widely used in minimally invasive robotic surgery due to their ability to distally rotate a tool around a fixed entry port; note that in most surgical applications, the tools are typically controlled by manual/teleoperated motion commands given by a human user. In this paper, we depart from the traditional manual control scheme and derive sensor-based methods to automatically position the manipulated tool using real-time image feedback. To this end, we first characterise the mechanism's 3-DOF configuration with the angle of the image projected tool and scalar distances between feature points. To cope with uncertainty in the camera's calibration parameters, we propose two gradient descent estimators that adaptively compute the unknown Jacobian matrix; the stability of these algorithms is proved with Lyapunov theory. Finally, we derive a kinematic image-based controller and evaluate its performance with several positioning experiments.
著者Navarro-Alarcon D, Yip HM, Wang ZR, Liu YH, Lin WY, Li P
會議名稱IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
會議開始日28.09.2015
會議完結日02.10.2015
會議地點Hamburg
會議國家/地區德國
出版年份2015
月份1
日期1
出版社IEEE
頁次5403 - 5409
電子國際標準書號978-1-4799-9994-1
國際標準期刊號2153-0858
語言英式英語
Web of Science 學科類別Computer Science; Computer Science, Artificial Intelligence; Robotics

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