Motion Compensated Controller for A Tendon‐Sheath-Driven Flexible Endoscopic Robot
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A tendon-sheath system (TSS) has the advantages of being relatively compact in size, flexible and low cost, and therefore is favoured in building flexible endoscopic robots to pass through long and tortuous human lumen. TSS, however, is prone to nonlinear behaviors such as backlash, hysteresis and direction dependent properties. A compensation technique is required to improve its positioning performance.
Tension and elongation models of TSS are analyzed. A feedforward motion compensation controller is designed to compensate the asymmetric backlash behavior of the TSS in real time.
Motion tracking experiments were conducted on a TSS driven two DOFs continuum manipulator. The results showed that using the proposed compensation methods, tracking error can be reduced by 74%.
The proposed compensation method is useful for controlling flexible continuum robots, which are anticipated to have emerging roles in assisting surgeons to perform the increasingly technically challenging endoscopic procedures.
Acceptance Date23/02/2016
All Author(s) ListXU Wenjun ,POON Chung Yan Carmen, YAM Yeung, CHIU P. W. Y.
Journal nameInternational Journal of Medical Robotics and Computer Assisted Surgery
Volume Number13
Issue Number1
LanguagesEnglish-United Kingdom
Keywordstendon-sheath system,continuum robot,endoscopic surgery,motion compensation

Last updated on 2021-26-11 at 23:54