Model and control of tendon-sheath transmission systems

Palli, Gianluca; Melchiorri, Claudio

doi:10.1109/robot.2006.1641838

Cited by 96 publications

(88 citation statements)

References 7 publications

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“…This is the same model as presented by Palli et al (Palli and Melchiorri, 2006;Palli et al, 2009), but we re-derive the solution to the model to be explicit about the contribution of pretension (not in the original derivation) so that it can be correctly incorporated into an expression for efficiency.…”

Section: Tendon/sheath Transmission Force Balancementioning

confidence: 99%

Efficiency and Power Limits of Electrical and Tendon-Sheath Transmissions for Surgical Robotics

Wagner

Emmanouil

2018

Front. Robot. AI

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A popular design choice in current surgical robotics is to use mechanical cables to transmit mechanical energy from actuators located outside of the body, through a minimally invasive port, to instruments on the inside of the body. These cables enable high performance surgical manipulations including high bandwidth control, precision position control, and high force ability. However, cable drives become less efficient for longer distances, for paths that involve continuous curves, and for transmissions involving multiple degrees of freedom. In this paper, we consider the design tradeoffs for two methods of transmitting power through an access port with limited cross sectional area and curved paths -tendon/sheath mechanical transmissions and electrical wire transmissions. We develop a series of analytic models examining fundamental limits of efficiency, force and power as constrained by access geometry, material properties, and safety limits of heat and electrical hazards for these two transmission types. These models are used to investigate the potential of achieving the required mechanical power requirements needed for surgery with smaller access ports and more difficult access pathways. We show that an electrical transmission is a viable way of delivering more than sufficient power needed for surgery, highlighting the opportunity for next-generation actuators to enable more minimally invasive surgical devices.

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Section: Tendon/sheath Transmission Force Balancementioning

confidence: 99%

Efficiency and Power Limits of Electrical and Tendon-Sheath Transmissions for Surgical Robotics

Wagner

Emmanouil

2018

Front. Robot. AI

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“…( [3], [4]) developed a tension controller by Coulomb friction model. Samuel et al ([5], [6]) integrated the experiment results analysed by three-way ANOVA and gap width effect to build the backlash compensator for cardiac catheter.…”

Section: Related Workmentioning

confidence: 99%

“…Tendon-sheath is able to transmit force from one end to another end by fixing the two ends of the sheath and pulling the inner tendon, no matter how the configuration of the middle part changes. It has the superior in working in narrow space application, such as robot hand ( [2], [3], [4]), medical device ([5], [6]), industrial tele-operation system ( [7], [8]), surgical robot ( [9], [10]), etc.…”

Section: Introductionmentioning

confidence: 99%

Motion Compensation of Tendon-Sheath Driven Continuum Manipulator for Endoscopic Surgery

Lau

Leung

Poon

et al. 2015

MATEC Web of Conferences

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Abstract. Tendon-sheath actuation mechanism is widely used in surgical robot, especially in endoscopic surgery, due to its capable of providing remote force and action transmission through long and flexible channel. However, hysteresis, backlash, nonlinear friction are the drawbacks of this mechanism. Our surgical robot use continuum manipulator which is useful in endoscopic surgery, due to its flexible and simple structure. Unlike other literatures that focus on tendon-sheath compensation only, the continuum manipulator is also taken into application level analysis. A model based feedforward motion compensation for tendon-sheath driven continuum manipulator is presented. The model is validated by using optical tracking system to trace the distal end position. Experiment result shows that the proposed model reduces the position error less than 5%.

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“…Similar approach was proposed by researchers at University of Bologna (Palli and Melchiorri, 2006;Palli et al, 2009;Palli et al, 2012). They replaced Coulomb friction model by Karnopp and Dahl friction models to characterize nonlinear hysteresis in the tendon sheath.…”

Section: Introductionmentioning

confidence: 97%

Nonlinear Modeling and Parameter Identification of Dynamic Friction Model in Tendon Sheath for Flexible Endoscopic Systems

Nho

Tjahjowidodo

Lau

et al. 2013

Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics

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Abstract:Minimally Invasive Surgery (MIS) has established a revolution in surgical communities, with its many advantages over open surgery. The need of more simplicity and high maneuverability makes the tendon sheath a very suitable mechanism in flexible endoscopic systems. Due to the restriction on size constraints and sterilization problems, traditional sensors cannot be mounted on the tool tips of a slave manipulator. Moreover, in the presence of nonlinear friction and hysteresis between the tendon and the sheath, it is extremely difficult to control the precise motion and sense the force during the operation. This paper proposes a new dynamic friction model to estimate the force at the end effector for the tendon sheath mechanism. The proposed friction model can adapt with any initial pretension of the tendon and any configuration of the sheath. The nonlinearities in both sliding and presliding regimes can be captured by using an internal state variable and functions dependent velocity and acceleration. A specific setup has been designed in order to measure the friction force between the tendon and the sheath. Finally, the validity of the identified model is confirmed by a good agreement of its prediction and experimental data.

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Model and control of tendon-sheath transmission systems

Cited by 96 publications

References 7 publications

Efficiency and Power Limits of Electrical and Tendon-Sheath Transmissions for Surgical Robotics

Efficiency and Power Limits of Electrical and Tendon-Sheath Transmissions for Surgical Robotics

Motion Compensation of Tendon-Sheath Driven Continuum Manipulator for Endoscopic Surgery

Nonlinear Modeling and Parameter Identification of Dynamic Friction Model in Tendon Sheath for Flexible Endoscopic Systems

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