TY - JOUR
T1 - SCADE
T2 - Simultaneous Sensor Calibration and Deformation Estimation of FBG-Equipped Unmodeled Continuum Manipulators
AU - Alambeigi, Farshid
AU - Aghajani Pedram, Sahba
AU - Speyer, Jason L.
AU - Rosen, Jacob
AU - Iordachita, Iulian
AU - Taylor, Russell H.
AU - Armand, Mehran
N1 - Funding Information:
This work was supported by the National Institutes of Health/National Institute of Biomedical Imaging andBioengineering underGrant R01EB016703.
Funding Information:
Manuscript received August 7, 2019; accepted October 2, 2019. Date of publication October 29, 2019; date of current version February 4, 2020. This work was supported by the National Institutes of Health/National Institute of Biomedical Imaging and Bioengineering under Grant R01EB016703. This paper was recommended for publication by Associate Editor C. Rucker and Editor P. Dupont upon evaluation of the reviewers’ comments. (Farshid Alambeigi and Sahba Aghajani Pedram are co-first authors.) (Corresponding author: Farshid Alambeigi.) F. Alambeigi is with the Walker Department of Mechanical Engineering, University of Texas at Austin, Austin, TX 78712 USA (e-mail: farshid.alambeigi@austin.utexas.edu).
Publisher Copyright:
© 2004-2012 IEEE.
PY - 2020/2
Y1 - 2020/2
N2 - In this article, we present a novel stochastic algorithm called simultaneous sensor calibration and deformation estimation (SCADE) to address the problem of modeling deformation behavior of a generic continuum manipulator (CM) in free and obstructed environments. In SCADE, using a novel mathematical formulation, we introduce a priori model-independent filtering algorithm to fuse the continuous and inaccurate measurements of an embedded sensor (e.g., magnetic or piezoelectric sensors) with an intermittent but accurate data of an external imaging system (e.g., optical trackers or cameras). The main motivation of this article is the crucial need of obtaining an accurate shape/position estimation of a CM utilized in a surgical intervention. In these robotic procedures, the CM is typically equipped with an embedded sensing unit (ESU) while an external imaging modality (e.g., ultrasound or a fluoroscopy machine) is also available in the surgical site. The results of two different set of prior experiments in free and obstructed environments were used to evaluate the efficacy of SCADE algorithm. The experiments were performed with a CM specifically designed for orthopaedic interventions equipped with an inaccurate Fiber Bragg Grating (FBG) ESU and overhead camera. The results demonstrated the successful performance of the SCADE algorithm in simultaneous estimation of unknown deformation behavior of the utilized unmodeled CM together with realizing the time-varying drift of the poor-calibrated FBG sensing unit. Moreover, the results showed the phenomenal out-performance of the SCADE algorithm in estimation of the CM's tip position as compared to FBG-based position estimations.
AB - In this article, we present a novel stochastic algorithm called simultaneous sensor calibration and deformation estimation (SCADE) to address the problem of modeling deformation behavior of a generic continuum manipulator (CM) in free and obstructed environments. In SCADE, using a novel mathematical formulation, we introduce a priori model-independent filtering algorithm to fuse the continuous and inaccurate measurements of an embedded sensor (e.g., magnetic or piezoelectric sensors) with an intermittent but accurate data of an external imaging system (e.g., optical trackers or cameras). The main motivation of this article is the crucial need of obtaining an accurate shape/position estimation of a CM utilized in a surgical intervention. In these robotic procedures, the CM is typically equipped with an embedded sensing unit (ESU) while an external imaging modality (e.g., ultrasound or a fluoroscopy machine) is also available in the surgical site. The results of two different set of prior experiments in free and obstructed environments were used to evaluate the efficacy of SCADE algorithm. The experiments were performed with a CM specifically designed for orthopaedic interventions equipped with an inaccurate Fiber Bragg Grating (FBG) ESU and overhead camera. The results demonstrated the successful performance of the SCADE algorithm in simultaneous estimation of unknown deformation behavior of the utilized unmodeled CM together with realizing the time-varying drift of the poor-calibrated FBG sensing unit. Moreover, the results showed the phenomenal out-performance of the SCADE algorithm in estimation of the CM's tip position as compared to FBG-based position estimations.
KW - Continuum manipulators (CMs)
KW - fiber Bragg grating (FBG) sensor
KW - medical robots and systems
KW - sensor fusion
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U2 - 10.1109/TRO.2019.2946726
DO - 10.1109/TRO.2019.2946726
M3 - Article
AN - SCOPUS:85079649020
SN - 1552-3098
VL - 36
SP - 222
EP - 239
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 1
M1 - 8886726
ER -