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Lu Y, Chen W, Lu B, Zhou J, Chen Z, Dou Q, Liu YH. Adaptive Online Learning and Robust 3-D Shape Servoing of Continuum and Soft Robots in Unstructured Environments. Soft Robot 2024; 11:320-337. [PMID: 38324014 DOI: 10.1089/soro.2022.0158] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/08/2024] Open
Abstract
In this article, we present a novel and generic data-driven method to servo-control the 3-D shape of continuum and soft robots based on proprioceptive sensing feedback. Developments of 3-D shape perception and control technologies are crucial for continuum and soft robots to perform tasks autonomously in surgical interventions. However, owing to the nonlinear properties of continuum robots, one main difficulty lies in the modeling of them, especially for soft robots with variable stiffness. To address this problem, we propose a versatile learning-based adaptive shape controller by leveraging proprioception of 3-D configuration from fiber Bragg grating (FBG) sensors, which can online estimate the unknown model of continuum robot against unexpected disturbances and exhibit an adaptive behavior to the unmodeled system without priori data exploration. Based on a new composite adaptation algorithm, the asymptotic convergences of the closed-loop system with learning parameters have been proven by Lyapunov theory. To validate the proposed method, we present a comprehensive experimental study using two continuum and soft robots both integrated with multicore FBGs, including a robotic-assisted colonoscope and multisection extensible soft manipulators. The results demonstrate the feasibility, adaptability, and superiority of our controller in various unstructured environments, as well as phantom experiments.
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Affiliation(s)
- Yiang Lu
- Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, Hong Kong
| | - Wei Chen
- Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, Hong Kong
| | - Bo Lu
- The Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China
| | - Jianshu Zhou
- Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, Hong Kong
- Hong Kong Center for Logistics Robotics, Shatin, Hong Kong
| | - Zhi Chen
- Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, Hong Kong
| | - Qi Dou
- Department of Computer Science and Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong
| | - Yun-Hui Liu
- Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, Hong Kong
- Hong Kong Center for Logistics Robotics, Shatin, Hong Kong
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2
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Kazemi S, Hashem R, Stommel M, Cheng LK, Xu W. Biomimetic Closed-Loop Control of a Novel Soft Gastric Simulator Toward Emulating Antral Contraction Waves. Soft Robot 2024. [PMID: 38252793 DOI: 10.1089/soro.2023.0097] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/24/2024] Open
Abstract
Soft gastric simulators are in vitro biomimetic modules that can reproduce the antral contraction waves (ACWs). Along with providing information concerning stomach contents, stomach simulators enable experts to evaluate the digestion process of foods and drugs. Traditionally, open-loop control approaches were implemented on stomach simulators to produce ACWs. Constructing a closed-loop control system is essential to improve the simulator's ability to imitate ACWs in additional scenarios and avoid constant tuning. Closed-loop control can enhance stomach simulators in accuracy, responding to various food and drug contents, timing, and unknown disturbances. In this article, a new generation of anatomically realistic soft pneumatic gastric simulators is designed and fabricated. The presented simulator represents the antrum, the lower portion of the stomach where ACWs occur. It is equipped with a real-time feedback system to implement diverse closed-loop controllers on demand. All the details of the physical design, fabrication, and assembly process are discussed. Also, the measures taken for the mechatronics design and sensory system are highlighted in this article. Through several implementation algorithms and techniques, three closed-loop controllers, including model-based and model-free schemes are designed and successfully applied on the presented simulator to imitate ACWs. All the experimental outcomes are carefully analyzed and compared against the biological counterparts. It is demonstrated that the presented simulator can serve as a reliable tool and method to scrutinize digestion and promote novel technologies around the human stomach and the digestion process. This research methodology can also be utilized to develop other biomimetic and bioinspired applications.
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Affiliation(s)
- Shahab Kazemi
- Department of Mechanical and Mechatronics Engineering, The University of Auckland, Auckland, New Zealand
| | - Ryman Hashem
- Department of Medical Physics and Bioengineering, University College London, London, England
| | - Martin Stommel
- Department of Electrical and Electronic Engineering, Auckland University of Technology, Auckland, New Zealand
| | - Leo K Cheng
- Auckland Bioengineering Institute, The University of Auckland, Auckland, New Zealand
| | - Weiliang Xu
- Department of Mechanical and Mechatronics Engineering, The University of Auckland, Auckland, New Zealand
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Russo M, Gautreau E, Bonnet X, Laribi MA. Continuum Robots: From Conventional to Customized Performance Indicators. Biomimetics (Basel) 2023; 8:biomimetics8020147. [PMID: 37092399 PMCID: PMC10123637 DOI: 10.3390/biomimetics8020147] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/03/2023] [Revised: 03/29/2023] [Accepted: 04/04/2023] [Indexed: 04/25/2023] Open
Abstract
Continuum robots have often been compared with rigid-link designs through conventional performance metrics (e.g., precision and Jacobian-based indicators). However, these metrics were developed to suit rigid-link robots and are tuned to capture specific facets of performance, in which continuum robots do not excel. Furthermore, conventional metrics either fail to capture the key advantages of continuum designs, such as their capability to operate in complex environments thanks to their slender shape and flexibility, or see them as detrimental (e.g., compliance). Previous work has rarely addressed this issue, and never in a systematic way. Therefore, this paper discusses the facets of a continuum robot performance that cannot be characterized by existing indicator and aims at defining a tailored framework of geometrical specifications and kinetostatic indicators. The proposed framework combines the geometric requirements dictated by the target environment and a methodology to obtain bioinspired reference metrics from a biological equivalent of the continuum robot (e.g., a snake, a tentacle, or a trunk). A numerical example is then reported for a swimming snake robot use case.
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Affiliation(s)
- Matteo Russo
- Department of Industrial Engineering, University of Rome Tor Vergata, Via del Politecnico 1, 00133 Rome, Italy
- Faculty of Engineering, University of Nottingham, Jubilee Campus, Nottingham NG8 1BB, UK
| | - Elie Gautreau
- Department GMSC, Pprime Institute, CNRS-University of Poitiers-ENSMA, UPR 3346 Poitiers, France
| | - Xavier Bonnet
- CEBC Center of Biological Studies of Chizé, CNRS & University of la Rochelle, Villiers-en-Bois, UMR 7372 Deux-Sèvres, France
| | - Med Amine Laribi
- Department GMSC, Pprime Institute, CNRS-University of Poitiers-ENSMA, UPR 3346 Poitiers, France
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Richter M, Kaya M, Sikorski J, Abelmann L, Kalpathy Venkiteswaran V, Misra S. Magnetic Soft Helical Manipulators with Local Dipole Interactions for Flexibility and Forces. Soft Robot 2023. [PMID: 36662545 DOI: 10.1089/soro.2022.0031] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/21/2023] Open
Abstract
Magnetic continuum manipulators (MCMs) are a class of continuum robots that can be actuated without direct contact by an external magnetic field. MCMs operating in confined workspaces, such as those targeting medical applications, require flexible magnetic structures that contain combinations of magnetic components and polymers to navigate long and tortuous paths. In cylindrical MCM designs, a significant trade-off exists between magnetic moment and bending flexibility as the ratio between length and diameter decreases. In this study, we propose a new MCM design framework that enables increasing diameter without compromising on flexibility and magnetic moment. Magnetic soft composite helices constitute bending regions of the MCM and are separated by permanent ring magnets. Local dipole interactions between the permanent magnets can reduce bending stiffness, depending on their size and spacing. For the particular segment geometry presented herein, the local dipole interactions result in a 31% increase in angular deflection of composite helices inside an external magnetic field, compared to helices without local interactions. In addition, we demonstrate fabrication, maneuverability, and example applications of a multisegment MCM in a phantom of the abdominal aorta, such as passing contrast dye and guidewires.
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Affiliation(s)
- Michiel Richter
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - Mert Kaya
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands.,Surgical Robotics Laboratory, Department of Biomedical Engineering, University of Groningen, and University Medical Centre Groningen, The Netherlands
| | - Jakub Sikorski
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - Leon Abelmann
- KIST Europe Forschugsgesellschaft mbH, Saarbrücken, Germany.,MESA+ Research Institute, University of Twente, Enschede, The Netherlands
| | | | - Sarthak Misra
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands.,Surgical Robotics Laboratory, Department of Biomedical Engineering, University of Groningen, and University Medical Centre Groningen, The Netherlands
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Culmone C, Yikilmaz FS, Trauzettel F, Breedveld P. Follow-The-Leader Mechanisms in Medical Devices: A Review on Scientific and Patent Literature. IEEE Rev Biomed Eng 2023; 16:439-455. [PMID: 34543205 DOI: 10.1109/rbme.2021.3113395] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
Abstract
Conventional medical instruments are not capable of passing through tortuous anatomy as required for natural orifice transluminal endoscopic surgery due to their rigid shaft designs. Nevertheless, developments in minimally invasive surgery are pushing medical devices to become more dexterous. Amongst devices with controllable flexibility, so-called Follow-The-Leader (FTL) devices possess motion capabilities to pass through confined spaces without interacting with anatomical structures. The goal of this literature study is to provide a comprehensive overview of medical devices with FTL motion. A scientific and patent literature search was performed in five databases (Scopus, PubMed, Web of Science, IEEExplore, Espacenet). Keywords were used to isolate FTL behavior in devices with medical applications. Ultimately, 35 unique devices were reviewed and categorized. Devices were allocated according to their design strategies to obtain the three fundamental sub-functions of FTL motion: steering, (controlling the leader/end-effector orientation), propagation, (advancing the device along a specific path), and conservation (memorizing the shape of the path taken by the device). A comparative analysis of the devices was carried out, showing the commonly used design choices for each sub-function and the different combinations. The advantages and disadvantages of the design aspects and an overview of their performance were provided. Devices that were initially assessed as ineligible were considered in a possible medical context or presented with FTL potential, broadening the classification. This review could aid in the development of a new generation of FTL devices by providing a comprehensive overview of the current solutions and stimulating the search for new ones.
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Xu C, Qin F, Zhou K, Wang B, Jin Y. A new control for the pneumatic muscle bionic legged robot based on neural network. IET CYBER-SYSTEMS AND ROBOTICS 2022. [DOI: 10.1049/csy2.12065] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/11/2023] Open
Affiliation(s)
- Chaoyue Xu
- College of Mechanical and Electrical Engineering China Jiliang University Hangzhou China
| | - Feifei Qin
- College of Mechanical and Electrical Engineering China Jiliang University Hangzhou China
| | - Kun Zhou
- College of Mechanical and Electrical Engineering China Jiliang University Hangzhou China
| | - Binrui Wang
- College of Mechanical and Electrical Engineering China Jiliang University Hangzhou China
| | - Yinglian Jin
- College of Mechanical and Electrical Engineering China Jiliang University Hangzhou China
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Zhang J, Fang Q, Xiang P, Sun D, Xue Y, Jin R, Qiu K, Xiong R, Wang Y, Lu H. A Survey on Design, Actuation, Modeling, and Control of Continuum Robot. CYBORG AND BIONIC SYSTEMS 2022; 2022:9754697. [PMID: 38616914 PMCID: PMC11014731 DOI: 10.34133/2022/9754697] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/26/2022] [Accepted: 06/27/2022] [Indexed: 04/16/2024] Open
Abstract
In this paper, we describe the advances in the design, actuation, modeling, and control field of continuum robots. After decades of pioneering research, many innovative structural design and actuation methods have arisen. Untethered magnetic robots are a good example; its external actuation characteristic allows for miniaturization, and they have gotten a lot of interest from academics. Furthermore, continuum robots with proprioceptive abilities are also studied. In modeling, modeling approaches based on continuum mechanics and geometric shaping hypothesis have made significant progress after years of research. Geometric exact continuum mechanics yields apparent computing efficiency via discrete modeling when combined with numerical analytic methods such that many effective model-based control methods have been realized. In the control, closed-loop and hybrid control methods offer great accuracy and resilience of motion control when combined with sensor feedback information. On the other hand, the advancement of machine learning has made modeling and control of continuum robots easier. The data-driven modeling technique simplifies modeling and improves anti-interference and generalization abilities. This paper discusses the current development and challenges of continuum robots in the above fields and provides prospects for the future.
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Affiliation(s)
- Jingyu Zhang
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Qin Fang
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Pingyu Xiang
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Danying Sun
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Yanan Xue
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
- Department of Plastic Surgery, Sir Run Run Shaw Hospital, Zhejiang University of Medicine, Hangzhou 310016, China
| | - Rui Jin
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Ke Qiu
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Rong Xiong
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Yue Wang
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Haojian Lu
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
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Dupont PE, Simaan N, Choset H, Rucker C. Continuum Robots for Medical Interventions. PROCEEDINGS OF THE IEEE. INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS 2022; 110:847-870. [PMID: 35756186 PMCID: PMC9231641 DOI: 10.1109/jproc.2022.3141338] [Citation(s) in RCA: 25] [Impact Index Per Article: 12.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/01/2023]
Abstract
Continuum robots are not constructed with discrete joints but, instead, change shape and position their tip by flexing along their entire length. Their narrow curvilinear shape makes them well suited to passing through body lumens, natural orifices, or small surgical incisions to perform minimally invasive procedures. Modeling and controlling these robots are, however, substantially more complex than traditional robots comprised of rigid links connected by discrete joints. Furthermore, there are many approaches to achieving robot flexure. Each presents its own design and modeling challenges, and to date, each has been pursued largely independently of the others. This article attempts to provide a unified summary of the state of the art of continuum robot architectures with respect to design for specific clinical applications. It also describes a unifying framework for modeling and controlling these systems while additionally explaining the elements unique to each architecture. The major research accomplishments are described for each topic and directions for the future progress needed to achieve widespread clinical use are identified.
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Affiliation(s)
- Pierre E Dupont
- Department of Cardiovascular Surgery, Boston Children's Hospital, Harvard Medical School, Boston, MA 02115 USA
| | - Nabil Simaan
- Department of Mechanical Engineering, the Department of Computer Science, and the Department of Otolaryngology, Vanderbilt University, Nashville, TN 37235 USA
| | - Howie Choset
- Mechanical Engineering Department, the Biomedical Engineering Department, and the Robotics Institute, Carnegie Mellon, Pittsburgh, PA 15213 USA
| | - Caleb Rucker
- Department of Mechanical, Aerospace, and Biomedical Engineering, The University of Tennessee, Knoxville, TN 37996 USA
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Wang J, Xue J, Yuan S, Tan J, Song S, Meng MQH. Kinematic Modeling of Magnetically-Actuated Robotic Catheter in Nonlinearly-Coupled Multi-Field. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3104620] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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