Motion Compensated Controller for A Tendon‐Sheath-Driven Flexible Endoscopic Robot
Publication in refereed journal

替代計量分析
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其它資訊
摘要Background
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.
Methods
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.
Results
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%.
Conclusions
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.
出版社接受日期23.02.2016
著者XU Wenjun ,POON Chung Yan Carmen, YAM Yeung, CHIU P. W. Y.
期刊名稱International Journal of Medical Robotics and Computer Assisted Surgery
出版年份2017
月份3
卷號13
期次1
頁次e1747
國際標準期刊號1478-5951
電子國際標準期刊號1478-596X
語言英式英語
關鍵詞tendon-sheath system,continuum robot,endoscopic surgery,motion compensation

上次更新時間 2020-17-10 於 02:32