SYSTEMS AND METHODS FOR SAFE COMPLIANT INSERTION AND HYBRID FORCE/MOTION TELEMANIPULATION OF CONTINUUM ROBOTS

摘要

Methods and systems are described for controlling movement of a continuum robot that includes a plurality of independently controlled segments along the length of the continuum robot. The continuum robot is inserted into a cavity of unknown dimensions or shape. A plurality of forces acting upon the continuum robot by the surrounding cavity are estimated. A positioning command indicating a desired movement of the distal end of the continuum robot is received from a manipulator control. The desired movement is augmented based, at least in part, on the estimated plurality of forces acting on the continuum robot such that movement is restricted to within safe boundaries of the surrounding cavity. The positioning of the continuum robot is then adjusted based on the augmented desired movement.

主权项

1. A method of controlling movement of a continuum robot, the continuum robot including a plurality of independently controlled segments along a length of the continuum robot, the method comprising:
inserting the continuum robot into a cavity of unknown dimensions or shape; estimating a plurality of forces acting on one or more segments of the continuum robot by the surrounding cavity; receiving a positioning command from a manipulator control, the positioning command indicating a desired movement for a distal end of the continuum robot; augmenting the desired movement for the distal end of the continuum robot based, at least in part, on the estimated plurality of forces acting on one or more segments such that movement of the continuum robot is restricted within safe boundaries of the surrounding cavity; and adjusting the position of the continuum robot based on the augmented desired movement.