DeepAI AI Chat
Log In Sign Up

Hybrid Data-Driven and Analytical Model for Kinematic Control of a Surgical Robotic Tool

by   Francesco Cursi, et al.
Shanghai Jiao Tong University

Accurate kinematic models are essential for effective control of surgical robots. For tendon driven robots, which is common for minimally invasive surgery, intrinsic nonlinearities are important to consider. Traditional analytical methods allow to build the kinematic model of the system by making certain assumptions and simplifications on the nonlinearities. Machine learning techniques, instead, allow to recover a more complex model based on the acquired data. However, analytical models are more generalisable, but can be over-simplified; data-driven models, on the other hand, can cater for more complex models, but are less generalisable and the result is highly affected by the training dataset. In this paper, we present a novel approach to combining analytical and data-driven approaches to model the kinematics of nonlinear tendon-driven surgical robots. Gaussian Process Regression (GPR) is used for learning the data-driven model and the proposed method is tested on both simulated data and real experimental data.


page 1

page 6


GPHQP: Hierarchical Quadratic Programming for Controlling a Gaussian Process Regression Model of Redundant Robot

Accurate kinematic models are essential for effective control of surgica...

Analyzing Neural Jacobian Methods in Applications of Visual Servoing and Kinematic Control

Designing adaptable control laws that can transfer between different rob...

Design of Experiments for Model Discrimination Hybridising Analytical and Data-Driven Approaches

Healthcare companies must submit pharmaceutical drugs or medical devices...

Robust Data-Driven 3-D Shape Servoing of Unmodeled Continuum Robots Using FBG Sensors in Unstructured Environments

In this paper, we present a novel and generic data-driven method to serv...

Is the Machine Smarter than the Theorist: Deriving Formulas for Particle Kinematics with Symbolic Regression

We demonstrate the use of symbolic regression in deriving analytical for...

Real-time Data Driven Precision Estimator for RAVEN-II Surgical Robot End Effector Position

Surgical robots have been introduced to operating rooms over the past fe...

Learning with Analytical Models

To understand and predict the performance of parallel and distributed pr...