A survey on actuators-driven surgical robots

Le, Huu Minh; Nho, Thanh; Phee, Soo Jay

doi:10.1016/j.sna.2016.06.010

Cited by 150 publications

(108 citation statements)

References 167 publications

(193 reference statements)

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“…The tendon‐driven systems have generally been utilized as motion and force transmission in surgical robots. The cable‐pulley and the tendon‐sheath are two main types of tendon actuator configurations . The modeling and the control for tendon‐sheath mechanisms were researched, which considered several nonlinear effects and incorporated tension loss due to friction force, elongation and elasticity .…”

Section: Methodsmentioning

confidence: 99%

External force estimation and implementation in robotically assisted minimally invasive surgery

Sang

Yun

Monfaredi

et al. 2017

Robotics Computer Surgery

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Section: Methodsmentioning

confidence: 99%

External force estimation and implementation in robotically assisted minimally invasive surgery

Sang

Yun

Monfaredi

et al. 2017

Robotics Computer Surgery

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“…Piezoelectric actuators (PEAs) are used in a variety of applications due to their null mechanical friction, high bandwidth, and ultrahigh positioning resolution. These applications include micropositioning/nanopositioning, 1,2 biomedical robotics, 3,4 and optical engineering. 5 The main challenge facing PEA applications, however, is the degradation of the positioning precision due to the nonlinear relationship between the displacement of the actuator and its input voltage.…”

Section: Introductionmentioning

confidence: 99%

Enhanced adaptive control for a benchmark piezoelectric‐actuated system via fuzzy approximation

Yousef

Hamdy

Saleem

et al. 2019

Adaptive Control & Signal

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This paper investigates the problem of the high precision tracking control of piezoelectric actuators (PEAs) without using the inverse of the uncertain hysteresis. Based on fuzzy system approximator and particle swarm optimization (PSO) algorithm, a proposed enhanced  adaptive controller is developed. The proposed controller provides fast and robust adaptation simultaneously with guaranteed desired transient performance. Moreover, it has a simple form and requires fewer adaptation parameters. The adaptation gain is determined via PSO algorithm. The proposed controller is tested on a lab-scale PEA system.Experimental results with comparative studies with different techniques have been developed. The simulation results reveal that the proposed controller outperforms the other controllers in terms of normalized root-mean-square and maximum tracking errors for different frequencies.

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“…The actuation mechanism can be external, hence performed through rigid shafts or cables (e.g. [6], [7]), or internal, using on-board motors [8], smart materials [9] or other actuation strategies [10]. Internal actuation is certainly promising as the invasiveness is lower.…”

Section: Introductionmentioning

confidence: 99%

Independent Control of Multiple Degrees of Freedom Local Magnetic Actuators With Magnetic Cross-Coupling Compensation

Scaglioni

Fornarelli

Garbin

et al. 2018

IEEE Robot. Autom. Lett.

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This paper tackles the problem of independent control of multiple degrees of freedom systems based on Local Magnetic Actuation (LMA). This is achieved by means of a modular disturbance rejection scheme, with the aim of enhancing the range of use of Multiple-DoF LMAs in dexterous surgical manipulators. An LMA actuation unit consists of a pair of permanent magnets, characterized by diametrical magnetization, acting as magnetic gears across the abdominal wall. In this study, the model of the LMA and the time-varying magnetic disturbances owing to the proximity of multiple units are discussed. Subsequently, the developed model is capitalized in order to establish a Kalman state observer for the purpose of developing a sensor-free endoscopic manipulator suited to infer the state of the internal side of the LMA. Afterwards, the same model is used to develop an adaptive feedforward compensator system, with the aim of balancing the magnetic torques acting on the LMAs from the neighbouring units in the case of unknown and frequency-varying sinusoidal disturbances. The effect of a magnetic shield, realized by means of MuMetal is also analyzed. The overall control system is modular with respect of the number of units and requires no centralized intelligence.The proposed scheme is subsequently validated by means of experiments performed on a benchtop platform, showing the effectiveness of the proposed approach. In particular, the proposed state observer presents an Root Mean Square Error (RMSE) ranging from 28 rpm to 47 rpm in the estimation of the rotational velocity of the internal magnet and a RMSE of 1.18 mN m to 1.41 mN m in the estimation of a load torque. The disturbance compensation system provides a reduction of 40 % to 50 % in the disturbance caused by interacting LMA units.

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A survey on actuators-driven surgical robots

Cited by 150 publications

References 167 publications

External force estimation and implementation in robotically assisted minimally invasive surgery

External force estimation and implementation in robotically assisted minimally invasive surgery

Enhanced adaptive control for a benchmark piezoelectric‐actuated system via fuzzy approximation

Independent Control of Multiple Degrees of Freedom Local Magnetic Actuators With Magnetic Cross-Coupling Compensation

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