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Updated: Jun 5, 2025
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An Experimental Platform to Study the Closed-loop Performance of Brain-machine Interfaces
Published on: March 10, 2011
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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.
Summary
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.
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.
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