Comparison of Mechanistic and Learning-based Tip Force Estimation on Tendon-driven Soft Robotic Catheters

摘要

Researchers have adopted mechanistic and learning-based approaches for tip force estimation on soft robotic catheters. Typically the literature attributes the mech-anistic methods with more accuracy while indicating the learning-based methods outpace in computational time. In this study, a previously validated mechanistic tip force estimation method was compared with four learning-based methods, i.e. support-vector-regression (SVR), random-forest (RF), Ad-aBoost (Ada), and deep neural network (DNN). The learning-based methods were trained on experimental data acquired from a robotic catheter, developed in-house. The accuracy of force estimation using the five methods were compared with the ground truth forces in a teleoperated catheter manipulation test. Moreover, the capability of the learning-based models in contact detection, i.e., detection of the onset of tip contact, were compared with the ground truth. The results showed that the mechanical model had a mean-absolute error (MAE) of 8.8 mN while the MAE of SVR, RF, Ada, and DNN were 5.6, 5.2, 5.3, and 5.1 mN, respectively. Moreover, the accuracy and precision of the mechanistic model for contact detection was 89.2% and 91.7%, respectively, while these were 97.0%, 97.7%, 97.6%,and 97% and 97.9%, 98.3%, 97.8%, and 98.8% for the SVR, RF, Ada, and DNN, respectively. The comparison showed that with hyper-parameter optimization the learning-based models surpassed the mechanistic model in accuracy and precision, while both method approaches revealed acceptable performance for the proposed application.