Chaillo, Paul;
Shi, Jialei;
Fournier, Isabelle;
Kruszewski, Alexandre;
Wurdemann, Helge A;
Duriez, Christian;
(2023)
Reduced finite element modelling and closed-loop control of pneumatic-driven soft continuum robots.
In:
Proceedings of the IEEE International Conference on Soft Robotics 2023.
IEEE (Institute of Electrical and Electronics Engineers): Singapore, Singapore.
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Abstract
The introduction of soft robots has led to the development of inherently safe and flexible interventional tools for medical applications, when compared to their traditionally rigid counterparts. In particular, robot-assisted surgery is one of the medical applications that benefits from the inherent properties of soft instruments. However, robust control and reliable manipulation of soft tools remain challenging. In this paper, we present a new method based on reduced finite element method model and closed-loop inverse kinematics control for a fiber-reinforced soft robot. The highly flexible, pneumatically driven soft robot has three fully fiber-reinforced chamber pairs. The outer diameter is 11.5 mm. An inner working channel of 4.5 mm provides a free lumen for in-vivo cancer imaging tools during minimally invasive interventions. Here, the manipulator is designed in order to retrieve a tissue biopsy which can then be investigated for cancerous tissue. Simulation and experimental results are compared to validate the model and control methods, using one-module and two-module robots. The results show a real-time control is achievable using the reduced model. Combing the closed-loop control, the median position tracking errors are generally less than 2 mm.
| Type: | Proceedings paper |
|---|---|
| Title: | Reduced finite element modelling and closed-loop control of pneumatic-driven soft continuum robots |
| Event: | IEEE International Conference on Soft Robotics |
| ISBN-13: | 979-8-3503-3222-3 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/RoboSoft55895.2023.10122081 |
| Publisher version: | https://doi.org/10.1109/RoboSoft55895.2023.1012208... |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Biomedical equipment, Minimally invasive surgery, Biological system modeling, Instruments, Prototypes, Medical services, Soft robotics |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/10164961 |
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