Preliminary Results on OCT-based Position Control of a Concentric Tube Robot
| Affiliation auteurs | !!!! Error affiliation !!!! |
| Titre | Preliminary Results on OCT-based Position Control of a Concentric Tube Robot |
| Type de publication | Conference Paper |
| Year of Publication | 2017 |
| Auteurs | Baran Y., Rabenorosoa K., Laurent G.J, Rougeot P., Andreff N., Tamadazte B. |
| Editor | Bicchi A, Okamura A |
| Conference Name | 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
| Publisher | IEEE; RSJ; IEEE Robot & Automat Soc; IEEE IES; SICE; New Technol Fdn |
| Conference Location | 345 E 47TH ST, NEW YORK, NY 10017 USA |
| ISBN Number | 978-1-5386-2682-5 |
| Résumé | This paper presents preliminary results on OCT (Optical Coherence Tomography) based control of a concentric tube robot (CTR). The potential use of OCT system is presented then its ability to perform an optical biopsy and an eye-to-hand configuration for robot control is highlighted. A prototype of CTR with three curved tubes is shortly described then a model-less OCT-based controller is detailed. The extraction of visual features from OCT images is performed by normalized cross-correlation. The proposed control scheme was experimentally validated. The positioning accuracy of CTR control was evaluated in benchtop trials. The error in tip placement can reach 10 mu m along X and 74 mu m along Y according to controller parameters. The 2D positioning (XY plan) is also tested then a final error about 55 mu m is achieved. |