Motion modelling and error compensation of a cable-driven continuum robot for applications to minimally invasive surgery

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
Fei QiBai Chen

Abstract

The continuum robot is widely used in minimally invasive surgery (MIS) because of its flexibility, dexterity and safety. However, because of the friction in the transmission system, backlash, and shape error from nominal kinematics, the tracking accuracy of the continuum robot is low, which may damage the tissues and organs during surgery. A novel error compensation method is presented to improve control. Considering the nonlinear friction and coupling effects, the static model of a robot is derived based on the principle of virtual work. A modified Capstan equation including bending rigidity and nonlinear friction is established to analyze the transmission characteristics of a cable-pulley system. The results of the experiments conducted with a continuum robot indicate the validity of the proposed compensation method. The established model and the proposed compensation method can be used for the cable-driven continuum robot to guarantee safety and stability in MIS.

References

May 14, 2003·Advanced Robotics : the International Journal of the Robotics Society of Japan·M W Hannan, I D Walker
Feb 18, 2010·The International Journal of Robotics Research·Nabil SimaanRussell Taylor
Aug 30, 2011·IEEE Transactions on Robotics : a Publication of the IEEE Robotics and Automation Society·Samuel B Kesner, Robert D Howe
Apr 6, 2016·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Wenjun XuP W Y Chiu
Dec 8, 2016·IEEE Transactions on Cybernetics· Wenchao Meng Youxian Sun

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Citations

May 3, 2019·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Fei QiBai Chen
Jan 27, 2021·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Fei QiShigang She

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