Work

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

Year: 2024

Type: article

Abstract: BACKGROUND: Cable-driven continuum manipulators (CDCMs) enable scar-free procedures but face limitations in workspace and control accuracy due to hysteresis. METHODS: We introduce an extensible CDCM with a semi-active mechanism (SAM) and develop a real-time hysteresis compensation control algorithm using a temporal convolution network (TCN) based on data collected from fiducial markers and RGBD sensing. RESULTS: Performance validation shows the proposed controller significantly reduces hysteresis by up to 69.5% in random trajectory tracking test and approximately 26% in the box pointing task. CONCLUSION: The SAM mechanism enables access to various lesions without damaging surrounding tissues. The proposed controller with TCN-based compensation effectively predicts hysteresis behaviour and minimises position and joint angle errors in real-time, which has the potential to enhance surgical task performance.

Source: International Journal of Medical Robotics and Computer Assisted Surgery

DOI: 10.1002/rcs.70014

Authors: Junhyun Park, Seonghyeok Jang, Myeongbo Park, Hyojae Park, Jeonghyeon Yoon, Minho Hwang

Institution: Daegu Gyeongbuk Institute of Science and Technology

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Good health and well-being

Open Access status: green

Funders: Korea Medical Device Development Fund, Daegu Gyeongbuk Institute of Science and Technology, Ministry of Science and ICT, South Korea