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Motion compensated controller for a tendon-sheath-driven flexible endoscopic robot.

Wenjun Xu1,2, Carmen C Y Poon3, Y Yam2

  • 1Department of Biomedical Engineering, National University of Singapore, Singapore.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|April 6, 2016
PubMed
Summary
This summary is machine-generated.

A new feedforward motion compensation controller significantly improves the positioning accuracy of tendon-sheath systems (TSS) in flexible endoscopic robots. This method reduces tracking errors by 74%, enhancing robotic surgery capabilities.

Keywords:
continuum robotendoscopic surgerymotion compensationtendon-sheath system

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Area of Science:

  • Robotics
  • Medical Devices
  • Control Systems

Background:

  • Tendon-sheath systems (TSS) are favored for flexible endoscopic robots due to their compact size, flexibility, and low cost, enabling navigation through complex human lumens.
  • However, TSS exhibit nonlinear behaviors like backlash, hysteresis, and direction-dependent properties, hindering precise positioning.
  • Effective compensation techniques are crucial to enhance the performance of TSS-based robotic systems.

Purpose of the Study:

  • To analyze the tension and elongation models of tendon-sheath systems (TSS).
  • To design a real-time feedforward motion compensation controller to address asymmetric backlash behavior in TSS.
  • To improve the positioning accuracy of flexible endoscopic robots utilizing TSS.

Main Methods:

  • Analysis of tension and elongation models specific to tendon-sheath systems.
  • Design and implementation of a feedforward motion compensation controller.
  • Real-time compensation of asymmetric backlash behavior inherent in TSS.

Main Results:

  • Motion tracking experiments were performed on a two degrees-of-freedom (DOF) continuum manipulator driven by a TSS.
  • The proposed compensation methods demonstrated a significant reduction in tracking error by 74%.
  • Validation of the controller's effectiveness in improving the positioning performance of TSS.

Conclusions:

  • The developed compensation method is effective for controlling flexible continuum robots.
  • This technique is valuable for endoscopic procedures, particularly those requiring high precision.
  • The findings support the emerging role of advanced robotic systems in assisting surgeons with complex endoscopic interventions.