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Related Experiment Video

Updated: Jun 29, 2026

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Published on: November 14, 2015

Separable Tendon-Driven Robotic Manipulator with a Long, Flexible, Passive Proximal Section.

Christian DeBuys¹, Florin C Ghesu², Jagadeesan Jayender³

¹Texas A&M University, Mechanical Engineering, College Station, TX, USA.

Journal of Mechanisms and Robotics

|February 8, 2024

Summary

This summary is machine-generated.

This study introduces a separable tendon-driven robotic manipulator (TDRM) for medical use, addressing challenges like sterilization and control. Novel compensation methods significantly reduced distal tip error in flexible robotic arms.

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Area of Science:

Robotics
Medical Devices
Mechanical Engineering

Background:

Tendon-driven robotic manipulators (TDRMs) offer minimally invasive advantages in medicine.
Existing TDRMs face challenges including sterilization, complex control, hysteresis, and proximal section effects.
These issues limit the practical application and reusability of TDRMs.

Purpose of the Study:

To address practical challenges in applying TDRMs with long, flexible proximal sections in medical settings.
To develop a separable TDRM design for improved sterilization and reusability.
To create and evaluate advanced control and compensation strategies for enhanced manipulator accuracy.

Main Methods:

Introduction of a separable TDRM design with reusable electronic components and disposable sections.
Development of an open-loop redundant controller to manage kinematic redundancy.
Implementation of linear hysteresis and re-tension compensation techniques based on device physics.

Main Results:

The separable design facilitates easier actuation and sterilization.
The developed controller effectively resolved kinematic redundancy.
Compensation methods reduced distal tip error across various static and dynamic proximal section configurations.
Evaluations demonstrated improved accuracy on a testbed simulating medical scenarios.

Conclusions:

The separable TDRM design and advanced control strategies effectively mitigate practical challenges.
The proposed compensation methods enhance the precision of flexible robotic manipulators.
This work advances the usability and performance of TDRMs in medical applications.