Static Model Assisted Stereo-Visual Shape Sensing of Flexible Manipulators

摘要: Wire-driven flexible manipulators are widely used in medical interventions and most of them controlled open loop. Their closed-loop control relies on shape sensing, which is challenging. In this paper, a sensing method for two-dimensional based Statics Model Bezier curve proposed. This builds the statics modeling manipulator assumption that deformed close to curve. By employing motion tension wires together with one or more joints’ locations measured by stereo vision system, can be well estimated. Compared purely vision-based method, applies wider conditions, including visual occlusion. The proposed experimentally validated. Results show both load-free loaded conditions could estimate manipulator.