Abstract
Continuum robots represent an actively developing and fast-growing technology in robotics. To successfully implement control and path planning of continuum robots it is important to develop an accurate three-dimensional shape and position sensing algorithm. In this paper, we propose an algorithm for the three-dimensional reconstruction of the continuum robot shape. The algorithm is performed during several steps. Initially, images from two cameras are processed by applying pre-processing and segmentation techniques. Then, the gradient descent method is applied to compare two-dimensional skeleton points of both masks. Having compared these points, it finds a skeleton of the robot in a three-dimensional form. Additionally, the proposed algorithm is able to define key points using the distance from the robot base along the center line. The latter allows controlling the position of points of interest defined by a user. As a result, the developed algorithm achieved a relatively high level of accuracy and speed.
Highlights
Today the continuum robot technologies are actively developing
As for the software, the Computer Vision Toolbox of MATLAB R2019a was used for calibration and work with the cameras
In this paper, we presented the algorithm for the shape and position sensing of continuum robots
Summary
Today the continuum robot technologies are actively developing. These robots obtain a higher dexterity compared to the traditional rigid robots. In this regard, they are capable of operating in complex workspaces. They are capable of operating in complex workspaces Due to this advantage, continuum robots are widely used in medicine for minimally invasive procedures [1]. Robotic catheters are used in endovascular surgery as the main tools for the delivery of instruments and stents. Other fields of application of continuum robots are non-destructive testing and repair [2,3,4,5]
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