TY - GEN
T1 - Eye-In-Hand Uncalibrated Visual Servoing of Concentric Tube Robot
AU - Zhang, Kehe
AU - Yang, Xing
AU - Wang, Jie
AU - Song, Shuang
AU - Meng, Max Q.H.
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/9/28
Y1 - 2020/9/28
N2 - A control strategy of uncalibrated visual servoing is proposed for a three-degree-of-freedom continuous concentric tube robot (CTR) in the paper. CTRs are widely researched in recent years for its advantages of flexibility, minimally invasive and portable medical device surgery. Compared with calibrated visual servoing control, uncalibrated visual servoing does not require CTR's accurate robot model and camera calibration parameters, while the difficulty of uncalibrated visual servoing is how to accurately estimate the Jacobian matrix of the image online. Therefore, the paper designs a control scheme of uncalibrated visual servoing for a three degree-of-freedom CTR. Kalman Filtering(KF) and Unscented Kalman Filtering(UKF) algorithms are used to estimate the Jacobian matrix of the CTR system online. A millimeter level endoscope is installed at the end of the CTR's operating arm for image acquisition, which is a an eye-in-hand visual system. The best UKF parameters for the CTR are obtained based on comparative experiments. Experiments show that the strategy of uncalibrated visual servoing based on designed UKF algorithm has a good performance in locating and tracking the target point for the CTR.
AB - A control strategy of uncalibrated visual servoing is proposed for a three-degree-of-freedom continuous concentric tube robot (CTR) in the paper. CTRs are widely researched in recent years for its advantages of flexibility, minimally invasive and portable medical device surgery. Compared with calibrated visual servoing control, uncalibrated visual servoing does not require CTR's accurate robot model and camera calibration parameters, while the difficulty of uncalibrated visual servoing is how to accurately estimate the Jacobian matrix of the image online. Therefore, the paper designs a control scheme of uncalibrated visual servoing for a three degree-of-freedom CTR. Kalman Filtering(KF) and Unscented Kalman Filtering(UKF) algorithms are used to estimate the Jacobian matrix of the CTR system online. A millimeter level endoscope is installed at the end of the CTR's operating arm for image acquisition, which is a an eye-in-hand visual system. The best UKF parameters for the CTR are obtained based on comparative experiments. Experiments show that the strategy of uncalibrated visual servoing based on designed UKF algorithm has a good performance in locating and tracking the target point for the CTR.
KW - concentric tube robot control strategy
KW - kalman filter
KW - uncalibrated vision servoing
KW - unscented kalman filter
UR - https://www.scopus.com/pages/publications/85099405951
U2 - 10.1109/RCAR49640.2020.9303265
DO - 10.1109/RCAR49640.2020.9303265
M3 - 会议稿件
AN - SCOPUS:85099405951
T3 - 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020
SP - 233
EP - 238
BT - 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020
Y2 - 28 September 2020 through 29 September 2020
ER -