用磁球链实现医疗机器人实时形状感知，精度高且成本低。
Continuum Robot Shape Estimation Using Magnetic Ball Chains
- 磁球链在柔性套管中形成特异性磁场，由外部传感器检测。
- 实验显示末端位置估计误差最大7.1%，平均2.9%（以全长为基准）。
- 适合需要实时可视化和闭环控制的微创手术场景。
医疗连续体机器人的形状感知对闭环控制及临床医生可视化体内机器人至关重要。亟需低成本但高精度的形状感知技术。本文提出使用磁球链生成可被外部霍尔传感器阵列检测的特征磁场。该磁球链置于柔性聚合物套管内，可插入任意连续体机器人的腔道中，实现实时形状反馈；必要时可取出套管以释放全部腔道空间。针对可转向导管尖端，推导了形状感知模型，并进行了可观测性与敏感性分析。实验结果表明，末端位置估计的最大误差为全长的7.1%，均值为2.9%。
原文摘要 · Abstract (English)
Shape sensing of medical continuum robots is important both for closed-loop control as well as for enabling the clinician to visualize the robot inside the body. There is a need for inexpensive, but accurate shape sensing technologies. This paper proposes the use of magnetic ball chains as a means of generating shape-specific magnetic fields that can be detected by an external array of Hall effect sensors. Such a ball chain, encased in a flexible polymer sleeve, could be inserted inside the lumen of any continuum robot to provide real-time shape feedback. The sleeve could be removed, as needed, during the procedure to enable use of the entire lumen. To investigate this approach, a shape-sensing model for a steerable catheter tip is derived and an observability and sensitivity analysis are presented. Experiments show maximum estimation errors of 7.1% and mean of 2.9% of the tip position with respect to total length.
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