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Real-time Shape Reconstruction of Flexible Multi-segment Continuum Robot Based for Bronchial Intervention
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Ming-yang ZHANG1, Gui-bin BIAN1, 2, *, Zhen LI2, Qiang YE2
Science Technology and Engineering | 2025, 25(1) : 245 - 251
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Science Technology and Engineering | 2025, 25(1): 245-251
• Papers·Automation and Computational Technology •
Real-time Shape Reconstruction of Flexible Multi-segment Continuum Robot Based for Bronchial Intervention
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Ming-yang ZHANG1, Gui-bin BIAN1, 2, *, Zhen LI2, Qiang YE2
Affiliations
  • 1. School of Automation, Beijing Information Science and Technology University, Beijing 100192, China
  • 2. Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
Published: 2025-01-08 doi: 10.12404/j.issn.1671-1815.2402081
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Continuum robots have been widely used in natural cavity intervention therapy, but the current flexible continuum robots have poor positioning accuracy and lack of accurate navigation means. In response, a multi-segment continuum robot shape reconstruction method based on electromagnetic positioning information was proposed, aimed at achieving accurate end navigation and positioning. An efficient two-stage active structure shape reconstruction method based on third-order Bessel curve was proposed. The solution of Bessel curve was optimized to nonlinear least squares problem, which was solved quickly and accurately by particle swarm algorithm with linear decreasing weights. The proposed method can accurately fit the shape of the two-segment continuum and has good real-time performance. The results show that within the bending angle process, the average root-mean-square error of shape reconstruction is 0.48 mm, which is 0.8% of the length of the continuum bending segment. The accuracy and reliability of the proposed shape reconstruction method for intracavitary interventions using micro-continuum robots are demonstrated through detailed modeling and validation results.

continuum robot  /  shape reconstruction  /  Bessel curve  /  particle swarm algorithm
Ming-yang ZHANG, Gui-bin BIAN, Zhen LI, Qiang YE. Real-time Shape Reconstruction of Flexible Multi-segment Continuum Robot Based for Bronchial Intervention[J]. Science Technology and Engineering, 2025 , 25 (1) : 245 -251 . DOI: 10.12404/j.issn.1671-1815.2402081
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Year 2025 volume 25 Issue 1
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Article Info
doi: 10.12404/j.issn.1671-1815.2402081
  • Receive Date：2024-03-24
  • Online Date：2025-07-29
  • Published：2025-01-08
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History
  • Received：2024-03-24
  • Revised：2024-10-11
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Affiliations
    1. School of Automation, Beijing Information Science and Technology University, Beijing 100192, China
    2. Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
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多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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