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


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AbstractTendon-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%.
All Author(s) ListLau KC, Leung EYY, Poon CCY, Chiu PWY, Lau JYW, Yam Y
Name of ConferenceInternational Symposium of Optomechatronics Technology (ISOT)
Start Date of Conference14/10/2015
End Date of Conference16/10/2015
Place of ConferenceNeuchatel
Country/Region of ConferenceSwitzerland
Journal nameMATEC Web of Conferences
Detailed descriptionorganized by Ecole Polytechnique Federale de Lausanne (EPFL) - Microcity
Year2015
Month1
Day1
Volume Number32
PublisherE D P SCIENCES
eISBN*****************
ISSN2261-236X
LanguagesEnglish-United Kingdom

Last updated on 2020-25-11 at 00:30