Hysteresis modeling and position control of tendon-sheath mechanism in flexible endoscopic systems

Do, Trong-Hieu; Tjahjowidodo, Tegoeh; Lau, Michael Wai Shing; Yamamoto, Takakazu; Phee, Soo Jay

doi:10.1016/j.mechatronics.2013.11.003

Cited by 141 publications

(116 citation statements)

References 30 publications

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“…Without compensation (using proportional scaling based on a linear regression of the • . Previously presented work [26] reported comparable peak error improvements, from 28…”

Section: A Calibration Modelsupporting

confidence: 53%

“…due to backlash, friction or tendon elongation, is a major challenge in tendon and gear-based robotic systems. There are multiple backlash compensation methods that implement a feed-forward controller [20], [26], [27]. In this paper, a similar approach is used, so the following will focus on how to determine/fit the calibration model ( lines:…”

Section: Nonlinear Transmission Compensationmentioning

confidence: 99%

See 1 more Smart Citation

Effective Manipulation in Confined Spaces of Highly Articulated Robotic Instruments for Single Access Surgery

Leibrandt

Wisanuvej

Gras

et al. 2017

IEEE Robot. Autom. Lett.

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Abstract-The field of robotic surgery increasingly advances towards highly articulated and continuum robots, requiring new kinematic strategies to enable users to perform dexterous manipulation in confined workspaces. This development is driven by surgical interventions accessing the surgical workspace through natural orifices such as the mouth or the anus. Due to the long and narrow nature of these access pathways, external triangulation at the fulcrum point is very limited or absent, which makes introducing multiple degrees of freedom at the distal end of the instrument necessary. Additionally, high force and miniaturization requirements make the control of such instruments particularly challenging. This paper presents the kinematic considerations needed to effectively manipulate these novel instruments and allow their dexterous control in confined spaces. A non-linear calibration model is further used to map joint to actuator space and improve significantly the precision of the instrument's motion. The effectiveness of the presented approach is quantified with bench tests, and the usability of the system is assessed by three user studies simulating the requirements of a realistic surgical task.

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“…Without compensation (using proportional scaling based on a linear regression of the • . Previously presented work [26] reported comparable peak error improvements, from 28…”

Section: A Calibration Modelsupporting

confidence: 53%

Section: Nonlinear Transmission Compensationmentioning

confidence: 99%

Effective Manipulation in Confined Spaces of Highly Articulated Robotic Instruments for Single Access Surgery

Leibrandt

Wisanuvej

Gras

et al. 2017

IEEE Robot. Autom. Lett.

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show abstract

“…The three displacement amplification ratios by different methods are very close, which has proved the correctness of the theoretical calculation formula (7).…”

Section: Discussionmentioning

confidence: 52%

“…6 The principle of the lever amplification mechanism is simple and easy to implement, and in theory, the output is a linear amplifier for input, but the amplification ratio of the lever mechanism is highly limited, while error accumulation and oversize would be caused if the multi-stage lever amplification mechanism was used. 7 The amplification ratio could be enlarged distinctly by the differential lever amplification mechanism, the application scope of which is limited for the complicated analysis of structure, and it is still unable to achieve the compact structure. The bridge-type amplification mechanism, which is designed by the principle of triangular amplification, has a large amplification ratio and a compact structure, but it is difficult to process.…”

Section: Introductionmentioning

confidence: 99%

Design of asymmetric flexible micro-gripper mechanism based on flexure hinges

Xing

2015

Advances in Mechanical Engineering

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Symmetric micro-gripper mechanism is very easy way to destroy the micro-components or parts for nonuniform force in the processing of micro-assembly. Aiming at the requirements of micro-assembly for the microtubule (diameter of 0-200 mm) components, a new type of asymmetric flexible micro-gripper mechanism based on flexure hinges was designed and studied. The asymmetric micro-gripper mechanism was driven by piezoelectric actuator, whose output displacement was amplified and transmitted by flexure hinges, and the flexible parallel four-bar mechanism was used to ensure that the micro-clamp moves and is held parallel. The displacement amplification ratio of the asymmetric flexible micro-gripper mechanism was deduced theoretically, and the finite element analysis and the experiment were also carried out to study the displacement amplification ratio in detail. The experiment results show that the displacement amplification ratio of the asymmetric flexible micro-gripper mechanism is 4.16, compared with the finite element analysis result and the theoretical calculation result; the error between them is 1.89% and 5.67%, respectively. The experiment results also show that the step-wise resolution of the micro-gripper is 7.50 mm, and the output force of the right micro-clamp was measured at 0.28 N. The asymmetric flexible micro-gripper mechanism is able to perform the micro-assembly tasks for the microtubule parts, and it is helpful to design this type of micro-gripper mechanism.

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“…This method usually models the TSS as one element, as shown in Figure 4(b). To model nonlinear effect, various types of Bouc-Wen models [18][19][20] and Dahl models [21][22] have been used. Do et al 22 proposed a promising modified Dahl model as follows…”

Section: Theoretical Backgroundmentioning

confidence: 99%

Mixed control scheme for accurate control of robotic flexible endoscope

Zhang

Han

Wang

et al. 2017

International Journal of Advanced Robotic Systems

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Tendon-driven endoscopes are mainly used in the current practice. Their flexible bodies may change frequently during the processes of biopsy, endoscopic mucosal resection or endoscopic submucosal dissection. These changes lead to backlash hysteresis and nonlinear friction effects, which make it difficult to achieve accurate control. To address this problem, a mixed control scheme based on the combination of discrete and continuous models was proposed and quantitatively compared with a conventional feedback control scheme, a feedforward control scheme and an adaptive control scheme. These experiments were conducted using a robotic gastroscope. The results showed that our control scheme can achieve more accurate tracking performance when the configuration changes frequently, with mean square error of tracking performance decreased by 50-75%.

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Hysteresis modeling and position control of tendon-sheath mechanism in flexible endoscopic systems

Cited by 141 publications

References 30 publications

Effective Manipulation in Confined Spaces of Highly Articulated Robotic Instruments for Single Access Surgery

Effective Manipulation in Confined Spaces of Highly Articulated Robotic Instruments for Single Access Surgery

Design of asymmetric flexible micro-gripper mechanism based on flexure hinges

Mixed control scheme for accurate control of robotic flexible endoscope

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