Preliminary results on OCT-based position control of a concentric tube robot
Y. Baran, K. Rabenorosoa, G. J. Laurent, P. Rougeot, N. Andreff, B. Tamadazte
Abstract
This paper presents preliminary results on OCT (Optical Coherence Tomography) based control of a concentric tube robot (CTR). The potential use of OCT system is presented then its ability to perform an optical biopsy and an eye-to-hand configuration for robot control is highlighted. A prototype of CTR with three curved tubes is shortly described then a model-less OCT-based controller is detailed. The extraction of visual features from OCT images is performed by normalized cross-correlation. The proposed control scheme was experimentally validated. The positioning accuracy of CTR control was evaluated in benchtop trials. The error in tip placement can reach 10 μm along X and 74 μm along Y according to controller parameters. The 2D positioning (XY plan) is also tested then a final error about 55 μm is achieved.
BibTeX
@inproceedings{iros2017_preliminaryresul,
title = {Preliminary results on OCT-based position control of a concentric tube robot},
author = {Y. Baran and K. Rabenorosoa and G. J. Laurent and P. Rougeot and N. Andreff and B. Tamadazte},
booktitle = {IROS 2017},
year = {2017}
}