ArticleIEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation2013
Continuous Shape Estimation of Continuum Robots Using X-ray Images.
Article in IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation, 2013. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 9 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
9 citing papers in PubMed.
- Design and Fabrication of a Fiber Bragg Grating Shape Sensor for Shape Reconstruction of a Continuum Manipulator.IEEE sensors journal · 2023Article
- Tip estimation approach for concentric tube robots using 2D ultrasound images and kinematic model.Medical & biological engineering & computing · 2021Article
- Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions.Frontiers in robotics and AI · 2021Review
- Real-Time Shape Estimation for Concentric Tube Continuum Robots with a Single Force/Torque Sensor.Frontiers in robotics and AI · 2021Article
- Design of a multi-arm concentric-tube robot system for transnasal surgery.Medical & biological engineering & computing · 2020Article
- Real-Time Visual Tracking of Dynamic Surgical Suture Threads.IEEE transactions on automation science and engineering : a publication of the IEEE Robotics and Automation Society · 2018Article
- A Motion Planning Approach to Automatic Obstacle Avoidance during Concentric Tube Robot Teleoperation.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2015Article
- Real-time Adaptive Kinematic Model Estimation of Concentric Tube Robots.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and SystemsArticle
- Conformational Modeling of Continuum Structures in Robotics and Structural Biology: A Review.Advanced robotics : the international journal of the Robotics Society of JapanArticle
Corrections and comments
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Authors and funding
4 authors.
Funding
Abstract
We present a new method for continuously and accurately estimating the shape of a continuum robot during a medical procedure using a small number of X-ray projection images (e.g., radiographs or fluoroscopy images). Continuum robots have curvilinear structure, enabling them to maneuver through constrained spaces by bending around obstacles. Accurately estimating the robot's shape continuously over time is crucial for the success of procedures that require avoidance of anatomical obstacles and sensitive tissues. Online shape estimation of a continuum robot is complicated by uncertainty in its kinematic model, movement of the robot during the procedure, noise in X-ray images, and the clinical need to minimize the number of X-ray images acquired. Our new method integrates kinematics models of the robot with data extracted from an optimally selected set of X-ray projection images. Our method represents the shape of the continuum robot over time as a deformable surface which can be described as a linear combination of time and space basis functions. We take advantage of probabilistic priors and numeric optimization to select optimal camera configurations, thus minimizing the expected shape estimation error. We evaluate our method using simulated concentric tube robot procedures and demonstrate that obtaining between 3 and 10 images from viewpoints selected by our method enables online shape estimation with errors significantly lower than using the kinematic model alone or using randomly spaced viewpoints.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.