A fast torsionally compliant kinematic model of concentric-tube robots.
Concentric-tube robots have the potential to become an important surgical tool for robot-assisted percutaneous interventions. They can provide dexterous operation in a small constrained environment. The kinematic model of a concentric-tube robot has been well developed in terms of accuracy, but the computational cost places limitations on real-time implementation. In this paper, we propose a new technique that will substantially improve the computational efficiency of evaluating the kinematics of a concentric-tube robot in the context of developing a control strategy without sacrificing the accuracy of the results. In this paper we develop a torsionally compliant kinematic model using global variables. The model is validated by comparing the results obtained by computing the kinematic model corresponding to an experimental setup of a concentric-tube robot to which a force/torque sensor has been mounted at its base with those obtained directly from the experimental setup. The results indicate that it is feasible to compute the kinematics of the concentric-tube robot fast enough to allow the position/force control loop to be implemented at a rate of 1 kHz.
CSTAR, Lawson Health Research Institute, London, ON, Canada. rxu25@uwo.ca
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D001696:Biomechanical Phenomena; D006801:Humans; D010535:Laparoscopy / Q000295:instrumentation / Q000379:methods; D008962:Models, Theoretical; D012371:Robotics / Q000295:instrumentation / Q000379:methods