An Ultra-fast Intrinsic Contact Sensing Method for Medical Instruments with Arbitrary Shape
Guanglin, Cao1,2,3; Mingcong, Chen1,2; Jian, Hu1,2; Hongbin, Liu1,2,4
Source PublicationIEEE Robotics and Automation Letters
ISSN2377-3766
2023
Volume8Issue:11Pages:6955 - 6962
Corresponding AuthorLiu, Hongbin(liuhongbin@ia.ac.cn)
Abstract

Intraoperative contact sensing has the potential to reduce the risk of surgical errors and enhance manipulation capabilities for medical robots, particularly in contact force control. Current intrinsic force sensing (IFS) methods are limited in application to medical instruments with arbitrary shape, due to high computational time and reliance on surface equations. This study presents an ultra-fast IFS method that uses multiple planes to establish surface geometry descriptions. The method can reduce high-order contact mechanical models that need to be solved iteratively to a set of linear equations, and calculate contact location analytically. In addition, a robot motion control approach based on the contact sensing method is proposed to maintain stable contact force and regulate the probe's orientation for robotic ultrasound systems (RUSS). Experimental results show that the contact sensing method is robust to friction and can achieve a mean ( ± SD) displacement error of 1.04 ± 0.43 mm in contact location with computational time less than 1 ms. The system has been evaluated on a phantom with sinusoidal motion. To the best of our knowledge, this is the first study to validate adaptiveness of RUSS under dynamic conditions. The results demonstrated that the system exhibits comparable manipulation capabilities to human operators with only force sensing, indicating a high level of adaptiveness.

KeywordForce control force and tactile sensing medical robots and systems
DOI10.1109/LRA.2023.3313067
WOS KeywordFORCE ; SENSOR
Indexed BySCI
Language英语
Funding ProjectInnoHK Program
Funding OrganizationInnoHK Program
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:001142334800010
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Sub direction classification智能机器人
planning direction of the national heavy laboratory其他
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/57349
Collection多模态人工智能系统全国重点实验室_智能微创医疗技术团队
Affiliation1.State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
2.Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong
3.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China
4.School of Biomedical Engineering and Imaging Sciences, King’s College London, SE1 7EU London, U.K.
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Guanglin, Cao,Mingcong, Chen,Jian, Hu,et al. An Ultra-fast Intrinsic Contact Sensing Method for Medical Instruments with Arbitrary Shape[J]. IEEE Robotics and Automation Letters,2023,8(11):6955 - 6962.
APA Guanglin, Cao,Mingcong, Chen,Jian, Hu,&Hongbin, Liu.(2023).An Ultra-fast Intrinsic Contact Sensing Method for Medical Instruments with Arbitrary Shape.IEEE Robotics and Automation Letters,8(11),6955 - 6962.
MLA Guanglin, Cao,et al."An Ultra-fast Intrinsic Contact Sensing Method for Medical Instruments with Arbitrary Shape".IEEE Robotics and Automation Letters 8.11(2023):6955 - 6962.
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