Working Project: Needle Manipulation
A University of Manchester (UoM) and University of Tokyo (UTokyo) collaboration, on dual-quaternion (DQ) control for needle insertion. Built on DQRobotics, it provides a QP-based task-space controller with remote-centre-of-motion (RCM) and joint-limit constraints, extended with violation-field constraints that keep a needle within a safe band around vessel primitives (with optional angular insertion constraints).
Installation
pip install marinholab-working-needlemanipulation
This is a pure-Python package. The serial-manipulator kinematics model
(SerialManipulatorSimulatorFriendly, re-exported here as
M3_SerialManipulatorSimulatorFriendly for backward compatibility) is provided
by the marinholab-sas-core dependency, so no C++ toolchain or git submodules
are needed to build it. See AGENTS.md.
Usage
The public API is exposed at the package root:
from marinholab.working.needlemanipulation import (
Controller, # QP task-space control (RCM + joint limits)
NeedleController, # adds vessel VFI + insertion constraints
M3_SerialManipulatorSimulatorFriendly, # serial-manipulator model
)
Controller is the ICRA 2019 task-space controller and is re-exported from
marinholab.sas.core.papers.icra2019 (it now ships in the
marinholab-sas-core dependency). ICRA19TaskSpaceController is kept as a
backward-compatible alias for it.
Three examples are installed as commands:
needlemanipulation_example— build a small robot and (ifmatplotlibis available) plot it in 3D.needlemanipulation_example_create_needle_controller— build aNeedleControllerfrom the bundledleft_robot.yaml.needlemanipulation_example_load_from_file— run the base controller on the bundled model for a short trajectory (records an MP4 whenmatplotlibis available).
The live end-to-end insertion simulations against the pediatric simulator live
in saul/ and require a running simulator instance; they are not part
of the installed package.
License
See LICENSE for details.
Release files for marinholab-working-needlemanipulation 26.8.0.24
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
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| File | Interpreter | ABI | Platform | Reset |
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| marinholab_working_needlemanipulation-26.8.0.24-py3-none-any.whl | Python 3 | none | any | Details |
Release files / marinholab_working_needlemanipulation-26.8.0.24-py3-none-any.whl
| Download URL | marinholab_working_needlemanipulation-26.8.0.24-py3-none-any.whl |
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| Size | 22.6 kB |
| Tags | Python 3 |
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