TY - GEN
T1 - Complementary model update
T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
AU - Srivatsan, Rangaprasad Arun
AU - Ayvali, Elif
AU - Wang, Long
AU - Roy, Rajarshi
AU - Simaan, Nabil
AU - Choset, Howie
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/8
Y1 - 2016/6/8
N2 - Registering a surgical tool to an a priori model of the environment is an important first step in computer-aided surgery. In this paper we present an approach for simultaneous registration and stiffness mapping using blind exploration of flexible environments. During contact-based exploration of flexible environments, the physical interaction with the environment can induce local deformation, leading to erroneous registration if not accounted for. To overcome this issue, a new registration method called complementary model update (CMU), is introduced. By incorporating measurements of the contact force, and contact location, we minimize a unique objective function to cancel out the effect of local deformation. We are thus able to acquire the necessary registration parameters using both geometry and stiffness information. The proposed CMU method is evaluated in simulation and using experimental data obtained by probing silicone models and an ex vivo organ.
AB - Registering a surgical tool to an a priori model of the environment is an important first step in computer-aided surgery. In this paper we present an approach for simultaneous registration and stiffness mapping using blind exploration of flexible environments. During contact-based exploration of flexible environments, the physical interaction with the environment can induce local deformation, leading to erroneous registration if not accounted for. To overcome this issue, a new registration method called complementary model update (CMU), is introduced. By incorporating measurements of the contact force, and contact location, we minimize a unique objective function to cancel out the effect of local deformation. We are thus able to acquire the necessary registration parameters using both geometry and stiffness information. The proposed CMU method is evaluated in simulation and using experimental data obtained by probing silicone models and an ex vivo organ.
UR - http://www.scopus.com/inward/record.url?scp=84977480822&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84977480822&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2016.7487224
DO - 10.1109/ICRA.2016.7487224
M3 - Conference contribution
AN - SCOPUS:84977480822
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 924
EP - 930
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Y2 - 16 May 2016 through 21 May 2016
ER -