Motion Compensation of Tendon-Sheath Driven Continuum Manipulator for Endoscopic Surgery
Refereed conference paper presented and published in conference proceedings


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摘要Tendon-sheath actuation mechanism is widely used in surgical robot, especially in endoscopic surgery, due to its capable of providing remote force and action transmission through long and flexible channel. However, hysteresis, backlash, nonlinear friction are the drawbacks of this mechanism. Our surgical robot use continuum manipulator which is useful in endoscopic surgery, due to its flexible and simple structure. Unlike other literatures that focus on tendon-sheath compensation only, the continuum manipulator is also taken into application level analysis. A model based feedforward motion compensation for tendon-sheath driven continuum manipulator is presented. The model is validated by using optical tracking system to trace the distal end position. Experiment result shows that the proposed model reduces the position error less than 5%.
著者Lau KC, Leung EYY, Poon CCY, Chiu PWY, Lau JYW, Yam Y
會議名稱International Symposium of Optomechatronics Technology (ISOT)
會議開始日14.10.2015
會議完結日16.10.2015
會議地點Neuchatel
會議國家/地區瑞士
期刊名稱MATEC Web of Conferences
詳細描述organized by Ecole Polytechnique Federale de Lausanne (EPFL) - Microcity
出版年份2015
月份1
日期1
卷號32
出版社E D P SCIENCES
電子國際標準書號*****************
國際標準期刊號2261-236X
語言英式英語

上次更新時間 2020-24-10 於 02:56