Local Linearized Cosserat Rod Model for Contact Force Estimation in Flexible Medical Instruments and Continuum Robots

Abstract

Knowledge of instrument contact forces can lead to safer medical interventions. We present a formulation of the frequently used Cosserat rod model that is linearized around the measured shape for efficient model-based contact force estimation in flexible instruments and robots. Validation on instruments’ deflection in an endovascular use case resulted in an average force estimation error of only 14 %.