Complementary model update: A method for simultaneous registration and stiffness mapping in flexible environments

Rangaprasad Arun Srivatsan, Elif Ayvali, Long Wang, Rajarshi Roy, Nabil Simaan, Howie Choset

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

23 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Pages924-930
Number of pages7
ISBN (Electronic)9781467380263
DOIs
StatePublished - 8 Jun 2016
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: 16 May 201621 May 2016

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2016-June
ISSN (Print)1050-4729

Conference

Conference2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Country/TerritorySweden
CityStockholm
Period16/05/1621/05/16

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