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SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-Time Hysteresis Compensation Control

Junhyun Park¹, Seonghyeok Jang¹, Myeongbo Park¹

¹Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.

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

|December 13, 2024

Summary

This summary is machine-generated.

This study introduces an extensible cable-driven continuum manipulator (CDCM) with a semi-active mechanism (SAM) and a TCN-based controller to reduce hysteresis, improving surgical accuracy.

Keywords:

computer‐assisted surgery continuum robots extensible continuum flexible manipulator hysteresis compensation temporal convolution network

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Area of Science:

Robotics
Medical Devices
Control Systems

Background:

Cable-driven continuum manipulators (CDCMs) offer scar-free surgical access.
Hysteresis in CDCMs limits workspace and control accuracy.

Purpose of the Study:

To develop an extensible CDCM with a semi-active mechanism (SAM).
To implement a real-time hysteresis compensation control algorithm using a temporal convolution network (TCN).

Main Methods:

An extensible CDCM with SAM was designed.
A TCN-based control algorithm was developed for real-time hysteresis compensation.
Data from fiducial markers and RGBD sensing were utilized.

Main Results:

The proposed controller reduced hysteresis by up to 69.5% in random trajectory tracking.
Approximately 26% hysteresis reduction was observed in the box pointing task.
Real-time prediction of hysteresis behavior and minimization of errors were achieved.

Conclusions:

The SAM mechanism facilitates access to diverse lesions with minimal tissue damage.
TCN-based hysteresis compensation enhances surgical precision by minimizing position and joint angle errors.
This approach has significant potential for improving surgical task performance.