Control formulation of a highly complex wire-driven mechanism in a surgical robot based on an extensive assessment of surgical tool-tip position/orientation using optical tracking system

Thiuthipsakul, Pittawat; Suthakorn, Jackrit

doi:10.1109/robio.2014.7090305

Cited by 2 publications

(1 citation statement)

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“…Figure 1 shows the size proportion of the end-effector and pulleys, the wrapping pattern of the cable and the motion pattern of the end-effector. Micro surgical instruments need to be extremely flexible, reliable and precise to ensure smooth operation, therefore most of them adopt the cable-pulley mechanism [ 7 , 8 , 9 , 10 ] or tendon-sheath mechanism [ 11 , 12 , 13 ]. The cable-pulley system is similar to the tendon-sheath system, both of which are affiliated with the flexible-wire driven system and widely applied in surgical robots.…”

Section: Introductionmentioning

confidence: 99%

A Novel Position Compensation Scheme for Cable-Pulley Mechanisms Used in Laparoscopic Surgical Robots

Liang

Wang

et al. 2017

Sensors

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The tendon driven mechanism using a cable and pulley to transmit power is adopted by many surgical robots. However, backlash hysteresis objectively exists in cable-pulley mechanisms, and this nonlinear problem is a great challenge in precise position control during the surgical procedure. Previous studies mainly focused on the transmission characteristics of the cable-driven system and constructed transmission models under particular assumptions to solve nonlinear problems. However, these approaches are limited because the modeling process is complex and the transmission models lack general applicability. This paper presents a novel position compensation control scheme to reduce the impact of backlash hysteresis on the positioning accuracy of surgical robots’ end-effectors. In this paper, a position compensation scheme using a support vector machine based on feedforward control is presented to reduce the position tracking error. To validate the proposed approach, experimental validations are conducted on our cable-pulley system and comparative experiments are carried out. The results show remarkable improvements in the performance of reducing the positioning error for the use of the proposed scheme.

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