Visual servo based concentric-tube-robot precise motion control method

Abstract

The invention discloses a visual servo based concentric-tube-robot precise motion control method. The method includes: establishing an eye-in-hand visual servo system on the basis of images with an aim to extract features of the images without calibration of a camera and completing extraction of controlled quantity through mapping of image Jacobian matrix; completing online estimation of the image Jacobian matrix by the aid of a Kalman filter, taking feature variation of the images as the measurement vector and taking the image Jacobian matrix as the state vector; taking the estimated value of the image Jacobian matrix as the measurement matrix of the Kalman filter, taking the joint angle error as the state vector, and taking the image error as the measurement vector, and acquiring the controlled quantity of the joint angle through filter estimation; when the image error approaches zero, completing position of target points. Motion control is fed back by relying on reliable image information, and the tiny and vibrating target points during surgical operation are finally accurately positioned, so that surgical operation is completed.

Description

A precise motion control method for concentric tube robot based on visual servoing technical field The invention relates to a precise motion control method for a concentric tube medical robot, in particular to a precise motion control method for a concentric tube robot based on visual servoing. Background technique At present, the mainstream of the motion control of the concentric tube robot is the teleoperation algorithm, which is mainly based on the establishment of its kinematic model, which has high requirements for the accuracy of the kinematic model and the consideration of factors such as friction and torsion. It is difficult to accurately locate the surgical target point, and it can only be roughly reached. In recent years, related technologies such as X-ray, ultrasound, MRI, and stereoscopic imaging have been applied to feedback the moving shape of concentric tubes, but the image-based visual servoing method does not require much modification of the hardware and c...

AI Technical Summary

Problems solved by technology

At present, the mainstream of the motion control of the concentric tube robot is the teleoperation algorithm, which is mainly based on the establishment of its kinematic model, which has high requirements for the accuracy of the kinematic model and the consideration of factors such as friction and torsion. It is difficult to accurately locate the surgical target point, and it can only be roughly reached

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