A cable-pulley system modeling based position compensation control for a laparoscope surgical robot

Xue, Renfeng; Ren, Bo; Yan, Zhiyuan; Du, Zhijiang

doi:10.1016/j.mechmachtheory.2017.08.006

Cited by 49 publications

(17 citation statements)

References 43 publications

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“…Equation is the modified Capstan equation containing the bending rigidity and nonlinear friction, which can accurately explain the viscoelastic deformation. The fourth‐order Runge–Kutta method is used to solve equation numerically, and obtain the ratio between the incoming tension and the outgoing tension. Assuming the cable is in full contact with the pulley under the preload, as shown in Figure , the boundary conditions are shown as follows:…”

Section: The Force Transmission Characteristics Of the Cable–pulley Smentioning

confidence: 99%

Motion modelling and error compensation of a cable-driven continuum robot for applications to minimally invasive surgery

Bai

et al. 2018

Int J Med Robotics Comput Assist Surg

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Section: The Force Transmission Characteristics Of the Cable–pulley Smentioning

confidence: 99%

Motion modelling and error compensation of a cable-driven continuum robot for applications to minimally invasive surgery

Bai

et al. 2018

Int J Med Robotics Comput Assist Surg

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“…In our previous works [ 41 ], we build the model of cable-pulley system for the end-effector in surgical robot. The output torque of the end-effector is expressed by

where,

represents the motion direction of the graspers;

represents anticlockwise and

represents clockwise;

are the parameters of the cable-pulley system which are expressed by

∼5) is the radius of pulleys;

∼5) is the length of the cable between adjacent pulleys;

represents the ratio of incoming tension to outgoing tension; the input torque

is calculated according to the tensions of cables.…”

Section: Estimation Of the Grasping Force Based On The Sensormentioning

confidence: 99%

“…According to the model of the cable-pulley system proposed in our previous work [ 41 ], the grasping force can be inferred and analyzed from the tension of cable. Combining the strain measurement characteristics of FBGs, we designed and evaluated a force sensor integrating six cantilever beams based on FBGs for our laparoscope surgical robot shown in Figure 1 .…”

Section: Introductionmentioning

confidence: 99%

Design and Evaluation of FBG-Based Tension Sensor in Laparoscope Surgical Robots

Xue

Ren

Huang

et al. 2018

Sensors

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Due to the narrow space and a harsh chemical environment in the sterilization processes for the end-effector of surgical robots, it is difficult to install and integrate suitable sensors for the purpose of effective and precise force control. This paper presents an innovative tension sensor for estimation of grasping force in our laparoscope surgical robot. The proposed sensor measures the tension of cable using fiber gratings (FBGs) which are pasted in the grooves on the inclined cantilevers of the sensor. By exploiting the stain measurement characteristics of FBGs, the small deformation of the inclined cantilevers caused by the cable tension can be measured. The working principle and the sensor model are analyzed. Based on the sensor model, the dimensions of the sensor are designed and optimized. A dedicated experimental setup is established to calibrate and test the sensor. The results of experiments for estimation the grasping force validate the sensor.

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“…In [ 1 , 28 , 31 ], the robotic arm and surgical instruments studied in this paper are introduced. The robotic arm carried a certain surgical instrument shown in Figure 3 .…”

Section: The Position Compensation Schemementioning

confidence: 99%

“…They formulated the governing equations based on the principle of virtual power with the reduction technique of DOFs, and the motions of each pulley and each segment of cable can be worked out by solving the dynamic equations. Xue et al [ 28 ] presented a tension and displacement transmission model of a cable-pulley system in the end-effector of a laparoscopic surgical robot. They assumed that the steel cable has elasticity and bending stiffness during the transmission process.…”

Section: Introductionmentioning

confidence: 99%

A Novel Position Compensation Scheme for Cable-Pulley Mechanisms Used in Laparoscopic Surgical Robots

Liang

Wang

et al. 2017

Sensors

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The tendon driven mechanism using a cable and pulley to transmit power is adopted by many surgical robots. However, backlash hysteresis objectively exists in cable-pulley mechanisms, and this nonlinear problem is a great challenge in precise position control during the surgical procedure. Previous studies mainly focused on the transmission characteristics of the cable-driven system and constructed transmission models under particular assumptions to solve nonlinear problems. However, these approaches are limited because the modeling process is complex and the transmission models lack general applicability. This paper presents a novel position compensation control scheme to reduce the impact of backlash hysteresis on the positioning accuracy of surgical robots’ end-effectors. In this paper, a position compensation scheme using a support vector machine based on feedforward control is presented to reduce the position tracking error. To validate the proposed approach, experimental validations are conducted on our cable-pulley system and comparative experiments are carried out. The results show remarkable improvements in the performance of reducing the positioning error for the use of the proposed scheme.

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A cable-pulley system modeling based position compensation control for a laparoscope surgical robot

Cited by 49 publications

References 43 publications

Motion modelling and error compensation of a cable-driven continuum robot for applications to minimally invasive surgery

Motion modelling and error compensation of a cable-driven continuum robot for applications to minimally invasive surgery

Design and Evaluation of FBG-Based Tension Sensor in Laparoscope Surgical Robots

A Novel Position Compensation Scheme for Cable-Pulley Mechanisms Used in Laparoscopic Surgical Robots

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