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Article: A Fast Soft Robotic Laser Sweeping System Using Data-Driven Modeling Approach

TitleA Fast Soft Robotic Laser Sweeping System Using Data-Driven Modeling Approach
Authors
KeywordsBending
Fiber optic shape sensing
Koopman operator
laser sweeping
Multicore processing
Robot sensing systems
Robots
Sensors
Shape
soft robot modeling and control
Soft robotics
Issue Date2023
Citation
IEEE Transactions on Robotics, 2023 How to Cite?
AbstractSoft robots have great potential in surgical applications due to their compliance and adaptability to their environment. However, their flexibility and nonlinearity bring challenges for precise modeling, sensing, and control, especially in constrained cavities. In this article, a simple, compact two-segment soft robot for flexible laser ablation is proposed. The proximal hydraulic-driven segment can offer omnidirectional bending so as to navigate toward lesions. The distal segment driven by tendons enables precise, fast steering of laser collimator for laser sweeping on lesion targets. The dynamics of such mechanical steering motion can be enhanced with a metal spring backbone integrated along the collimator, thus facilitating the control with certain linearity and responsiveness. A soft robot modeling and control scheme based on Koopman operators is proposed. We also design a disturbance observer so as to incorporate the controller feedback with real-time fiber optic shape sensing. Experimental validation is conducted on simulated or ex-vivo laser ablation tasks, thus evaluating our control strategies in laser path following across various contours/patterns. As a result, such a simple compact laser manipulation can perform up to 6 Hz sweeping with precision of path following errors below 1 mm. Such modeling and control scheme could also be used on an endoscopic laser ablation robot with unsymmetric mechanism driven by two tendons.
Persistent Identifierhttp://hdl.handle.net/10722/328018
ISSN
2023 Impact Factor: 9.4
2023 SCImago Journal Rankings: 3.669
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorWang, Kui-
dc.contributor.authorWang, Xiaomei-
dc.contributor.authorHo, Justin Di Lang-
dc.contributor.authorFang, Ge-
dc.contributor.authorZhu, Bohao-
dc.contributor.authorXie, Rongying-
dc.contributor.authorLiu, Yun Hui-
dc.contributor.authorAu, Kwok Wai Samuel-
dc.contributor.authorChan, Jason Ying Kuen-
dc.contributor.authorKwok, Ka Wai-
dc.date.accessioned2023-06-05T06:53:21Z-
dc.date.available2023-06-05T06:53:21Z-
dc.date.issued2023-
dc.identifier.citationIEEE Transactions on Robotics, 2023-
dc.identifier.issn1552-3098-
dc.identifier.urihttp://hdl.handle.net/10722/328018-
dc.description.abstractSoft robots have great potential in surgical applications due to their compliance and adaptability to their environment. However, their flexibility and nonlinearity bring challenges for precise modeling, sensing, and control, especially in constrained cavities. In this article, a simple, compact two-segment soft robot for flexible laser ablation is proposed. The proximal hydraulic-driven segment can offer omnidirectional bending so as to navigate toward lesions. The distal segment driven by tendons enables precise, fast steering of laser collimator for laser sweeping on lesion targets. The dynamics of such mechanical steering motion can be enhanced with a metal spring backbone integrated along the collimator, thus facilitating the control with certain linearity and responsiveness. A soft robot modeling and control scheme based on Koopman operators is proposed. We also design a disturbance observer so as to incorporate the controller feedback with real-time fiber optic shape sensing. Experimental validation is conducted on simulated or <italic>ex-vivo</italic> laser ablation tasks, thus evaluating our control strategies in laser path following across various contours/patterns. As a result, such a simple compact laser manipulation can perform up to 6 Hz sweeping with precision of path following errors below 1 mm. Such modeling and control scheme could also be used on an endoscopic laser ablation robot with unsymmetric mechanism driven by two tendons.-
dc.languageeng-
dc.relation.ispartofIEEE Transactions on Robotics-
dc.subjectBending-
dc.subjectFiber optic shape sensing-
dc.subjectKoopman operator-
dc.subjectlaser sweeping-
dc.subjectMulticore processing-
dc.subjectRobot sensing systems-
dc.subjectRobots-
dc.subjectSensors-
dc.subjectShape-
dc.subjectsoft robot modeling and control-
dc.subjectSoft robotics-
dc.titleA Fast Soft Robotic Laser Sweeping System Using Data-Driven Modeling Approach-
dc.typeArticle-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/TRO.2023.3262118-
dc.identifier.scopuseid_2-s2.0-85153798940-
dc.identifier.hkuros344558-
dc.identifier.eissn1941-0468-
dc.identifier.isiWOS:000976589700001-

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