DeepAI AI Chat
Log In Sign Up

Shape-adaptive Hysteresis Compensation for Tendon-driven Continuum Manipulators

09/14/2021
by   Young-Ho Kim, et al.
Siemens Healthineers
0

Tendon-driven continuum manipulators (TDCM) are commonly used in minimally invasive surgical systems due to their long, thin, flexible structure that is compliant in narrow or tortuous environments. There exist many researches for precise tip control of the articulating section. However, these models do not account for the proximal shaft shape of TDCM, affecting the tip controls in practical settings. In this paper, we propose a gradient-based shift detection method based on motor current that can easily find the offset of task space models (i.e., hysteresis). We analyze our proposed methods with multiple Intra-cardiac Echocardiography catheters, which are typical commercial example of TDCM. Our results show that the errors from varied proximal shape are considerably reduced, and the accuracy of the tip manipulation is improved when changing external environmental structures.

READ FULL TEXT
11/03/2020

Non-linear Hysteresis Compensation of a Tendon-sheath-driven Robotic Manipulator using Motor Current

Tendon-sheath-driven manipulators (TSM) are widely used in minimally inv...
09/12/2022

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...
07/27/2022

MagGlove: A Haptic Glove with Movable Magnetic Force for Manipulation Learning

Recently, haptic gloves have been extensively explored for various pract...
10/09/2011

The proximal point method for a hybrid model in image restoration

Models including two L^1 -norm terms have been widely used in image rest...
12/04/2020

Generalized Proximal Methods for Pose Graph Optimization

In this paper, we generalize proximal methods that were originally desig...
03/10/2020

3D printed cable-driven continuum robots with generally routed cables: modeling and experiments

Continuum robots are becoming increasingly popular for applications whic...