Distal-end force prediction of tendon-sheath mechanisms for flexible endoscopic surgical robots using deep learning

Li, Xiaoguo; Cao, Lin; Tiong, Anthony Meng Huat; Phan, Phuoc Thien; Phee, Soo Jay

doi:10.1016/j.mechmachtheory.2018.12.035

Cited by 63 publications

(43 citation statements)

References 38 publications

(61 reference statements)

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“…This means that the iPPROM risk could be lowered if this instrument was used in a real TTTS procedure. However, the current basic hysteresis modeling approach should be improved by e.g., using hysteresis compensation (Mei et al, 2017;Capace et al, 2019) or deep learning algorithms (Li et al, 2019). This would probably encourage the operator to use the flexible feature of the instrument even more, since it would be more responsive to the user input.…”

Section: Discussionmentioning

confidence: 99%

Handheld Active Add-On Control Unit for a Cable-Driven Flexible Endoscope

et al. 2019

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The instruments currently used by surgeons for in utero treatment of the twin-to-twin transfusion syndrome (TTTS) are rigid or semi-rigid. Their poor dexterity makes this surgical intervention risky and the surgeon's work very complex. This paper proposes the design, assembly and quantitative evaluation of an add-on system intended to be placed on a commercialized cable-driven flexible endoscope. The add-on system is lightweight and easily exchangeable thanks to the McKibben muscle actuators embedded in its system. The combination of the flexible endoscope and the new add-on unit results in an easy controllable flexible instrument with great potential use in TTTS treatment, and especially for regions that are hard to reach with conventional instruments. The fetoscope has a precision of 7.4% over its entire bending range and allows to decrease the maximum planar force on the body wall of 6.15% compared to the original endoscope. The add-on control system also allows a more stable and precise actuation of the endoscope flexible tip.

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Section: Discussionmentioning

confidence: 99%

Handheld Active Add-On Control Unit for a Cable-Driven Flexible Endoscope

et al. 2019

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“…In addition, the HFAM generates its motion via a local extension of an individual muscle segment, which is analogous to the natural behavior of certain plant cells that are lengthened or shortened when being pressurized [64], enabling uniform distributions of the motion and its generated mechanical force while maintaining its energy regardless of the distance. In contrast, the motion and force output of the tendon-driven mechanism highly depends on the routing path and the distance of its power source located at its proximal end [65,66]. In applications that require highly tortuous paths and multi-loop configurations such as flexible surgical robots or wearable exoskeletons where tendon-sheath or Bowden cable mechanisms are currently dominant, a high force loss is unavoidable [2,67].…”

Section: B Operating Principle Of the Hfam And Modelingmentioning

confidence: 99%

HFAM: Soft Hydraulic Filament Artificial Muscles for Flexible Robotic Applications

et al. 2020

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The use of soft artificial muscles (SAMs) is rapidly increasing in various domains such as haptics, robotics, and medicine. There is a huge need for a SAM that is highly compliant and facile to fabricate with performance characteristics similar to human muscles. This paper introduces bio-inspired soft hydraulic filament artificial muscles (HFAMs) that can be extended and contracted under fluid pressures. The HFAMs, which have a high aspect ratio of at least 5000, use a simple and low-cost fabrication method of insertion, enabling scalability and mass-production while increasing its generated force via a stiff constrained helical layer and an adjustable stretch ratio of their inner silicone microtube. The developed muscles can produce a high elongation of 246.8% and a high energy efficiency of 62.7%. In addition, the HFAMs can generate a higher contraction force compared to existing state-of-the-art devices via their constrained hollow layer and the adjustable stretch ratio of the inner microtube, enabling a tunable force capability. Experiments are carried out to validate the HFAM performance including durability, lifting, frequency response and energy efficiency tests. The HFAM capabilities are demonstrated via various experiments, offering a potential substitute for the conventional tendon-driven mechanisms with less friction loss and stable energy efficiency while working against long and tortuous paths. A HFAMs-driven soft exoskeleton glove that could assist in grasping multiple objects is developed and evaluated. The new muscles open great opportunities for research and commercial sectors including emerging applications such as soft wearable devices and flexible surgical robots.INDEX TERMS fluid-driven artificial muscles, soft actuators, soft exoskeletons, soft robotics, tendondriven mechanisms, wearable devices.

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“…The adaptive algorithm is more suitable for the hysteretic modelling of tendon-sheath mechanisms (TSMs). Li et al [8,9] proposed a deep learning method that predicts the far-end force of TSMs based on the near-end measurements and can achieve accurate predictions in experiments with constant system speeds. However, these methods usually assume that the casing is fixed, which is difficult to achieve in the application of actual robotic arms.…”

Section: Introductionmentioning

confidence: 99%

Transmission Characteristics Analysis and Compensation Control of Double Tendon-sheath Driven Manipulator

Yin

et al. 2020

Sensors

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The double tendon-sheath drive system is widely used in the design of surgical robots and search and rescue robots because of its simplicity, dexterity, and long-distance transmission. We are attempting to apply it to manipulators, wherenon-linear characteristics such as gaps, hysteresis, etc., due to friction between the contact surfaces of the tendon sheath and the flexibility of the rope, are the main difficulties in controlling such manipulators. Most of the existing compensation control methods applicable to double tendon-sheath actuators are offline compensation methods that do not require output feedback, but when the system’s motion and configuration changes, it cannot adapt to the drastic changes in the transmission characteristics. Depending on the transmission system, the robotic arm, changes at any time during the working process, and the force sensors and torque sensors that cannot be applied to the joints of the robot, so a real-time position compensation control method based on flexible cable deformation is proposed. A double tendon-sheath transmission model is established, a double tendon-sheath torque transmission model under any load condition is derived, and a semi-physical simulation experimental platform composed of a motor, a double tendon-sheath transmission system and a single articulated arm is established to verify the transfer model. Through the signal feedback of the end encoder, a real-time closed-loop feedback system was established, thus that the system can still achieve the output to follow the desired torque trajectory under the external interference.

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Distal-end force prediction of tendon-sheath mechanisms for flexible endoscopic surgical robots using deep learning

Cited by 63 publications

References 38 publications

Handheld Active Add-On Control Unit for a Cable-Driven Flexible Endoscope

Handheld Active Add-On Control Unit for a Cable-Driven Flexible Endoscope

HFAM: Soft Hydraulic Filament Artificial Muscles for Flexible Robotic Applications

Transmission Characteristics Analysis and Compensation Control of Double Tendon-sheath Driven Manipulator

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