Vision Based Angle Recognition System for Micro Continuum Robot Actuated by SMA Wires

カテゴリ: 研究会(論文単位)

論文No: MSS25036,CHS25006,BMS25003

グループ名: 【E】センサ・マイクロマシン部門 マイクロマシン・センサシステム/【E】センサ・マイクロマシン部門 ケミカルセンサ/【E】センサ・マイクロマシン部門 バイオ・マイクロシステム合同研究会

発行日: 2025/03/24

タイトル(英語): Vision Based Angle Recognition System for Micro Continuum Robot Actuated by SMA Wires

著者名: 劉 温鋭(東北大学),鶴岡 典子(東北大学),阿部 慎平(東北大学),棚橋 善克(棚橋よしかつ＋泌尿器科),芳賀 洋一(東北大学)

著者名(英語): Wenrui Liu(Tohoku University),Noriko Tsuruoka(Tohoku University),Shimpei Abe(Tohoku University),Yoshikatsu Tanahashi(The Urology office of Tana-hashi),Yoichi Haga(Tohoku University)

キーワード: Continuum robots|Shape memory alloy|Vision servo|Real-time recognition|Micro medical device

要約(日本語): Our study encompasses the development of a robotic instrument that is specifically aimed at improving the efficiency and precision of transurethral lithotripsy (f-TUL). The device's diameter is restricted to a maximum of 1.1 mm, to be compatible with the

要約(英語): Our study encompasses the development of a robotic instrument that is specifically aimed at improving the efficiency and precision of transurethral lithotripsy (f-TUL). The device's diameter is restricted to a maximum of 1.1 mm, to be compatible with the existing ureteroscope. An innovative continuum robot, actuated by three slackened shape memory alloy (SMA) wires, is designed and fabricated to regulate the laser irradiation position of the optical fiber. To account for the non-linearity and potential interaction of SMA wires, machine-learning algorithms will be implemented for pattern recognition. In this study, an angle-recognition system with three cameras is developed to obtain the space information of the robot from vision. The code is available at https://github.com/Ryan7Liu/Multi-camera-vision-processing.git.

本誌: 2025年3月27日マイクロマシン・センサシステム/ケミカルセンサ/バイオ・マイクロシステム合同研究会

本誌掲載ページ: 7-9 p

原稿種別: 英語

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