Adaptive control for enhancing tracking performances of flexible tendon–sheath mechanism in natural orifice transluminal endoscopic surgery (NOTES)

Do, Trong-Hieu; Tjahjowidodo, Tegoeh; Lau, Michael Wai Shing; Phee, Soo Jay

doi:10.1016/j.mechatronics.2015.04.002

Cited by 71 publications

(44 citation statements)

References 44 publications

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“…The presence of the IGB in the stomach delays gastric emptying, causing a premature sensation of satiety and thus results in decreased food consumption10. Conventional IGBs for obesity and overweight treatment have shown critical limitations such as high cost, discomfort, nausea, vomiting, and complex endoscopic procedures due to the requirement of insertion and removal tools434445. To maximize the efficacy for treatment and to minimize the side effects, the IGB should be removed every three months6.…”

Section: Discussionmentioning

confidence: 99%

A Magnetic Soft Endoscopic Capsule-Inflated Intragastric Balloon for Weight Management

Nho

Phee

2016

Sci Rep

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Overweight and obesity have been identified as a cause of high risk diseases like diabetes and cancer. Although conventional Intragastric Balloons (IGBs) have become an efficient and less invasive method for overweight and obesity treatment, the use of conventional tools such as catheter or endoscope to insert and remove the IGBs from the patient’s body causes nausea, vomiting, discomfort, and even gastric mucous damage. To eliminate these drawbacks, we develop a novel magnetic soft capsule device with gas-filled balloon inflation. The balloon is made from a thin and biocompatible material that can be inflated to a desired volume using biocompatible effervescent chemicals. In addition, both the outer balloon and inner capsule are designed to be soft and chemical resistance. The soft capsule shell is fabricated using scaffold-solvent approach while the outer balloon utilizes a novel fabrication approach for 3D spherical structure. A prototype of the proposed capsule and balloon is given. Experiments are successfully carried out in stimulated gastric environment and fresh porcine stomach to validate the effectiveness and reliability of the proposed approach.

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Section: Discussionmentioning

confidence: 99%

A Magnetic Soft Endoscopic Capsule-Inflated Intragastric Balloon for Weight Management

Nho

Phee

2016

Sci Rep

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“…The main advantages of this approach are high accuracy and noise reduction ability. In addition, the disturbances and uncertainties like the change of cable configuration and external force from operation environment are completely eliminated using nonlinear and adaptive control schemes 54,55,57,60,65,66,122,124 . However, it is still complex in terms of construction, calculation, and needs feedback information like position and force that are challenging in surgical robots.…”

Section: Modelling and Controlmentioning

confidence: 99%

A survey on actuators-driven surgical robots

Nho

Phee

2016

Sensors and Actuators A: Physical

168

107

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“…Alternatively, by employing non-traditional and indirect sensors (e.g., image processing systems) to feed back the output, researchers can adopt closed-loop control algorithms to enhance the position tracking performance. Recently, Do et al [34][35][36] adopted the Bouc-Wen model [37,38] to describe the motion transmission with displacement input and developed adaptive control schemes to cope with the changes of the conduit configuration and track to the position reference. However, no force/torque control algorithm was proposed.…”

Section: Introductionmentioning

confidence: 99%

Direct torque control for cable conduit mechanisms for the robotic foot for footwear testing

2018

Self Cite

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As the shoe durability is affected directly by the dynamic force/pressure between the shoe and its working environments (i.e., the contact ground and the human foot), a footwear testing system should replicate correctly this interaction force profile during gait cycles. Thus, in developing a robotic foot for footwear testing, it is important to power multiple foot joints and to control their output torque to produce correct dynamic effects on footwear. The cable conduit mechanism (CCM) offers great advantages for designing this robotic foot. It not only eliminates the cumbersome actuators and significant inertial effects from the fastmoving robotic foot but also allows a large amount of energy/force to be transmitted/propagated to the compact robotic foot. However, CCMs cause nonlinearities and hysteresis effects to the system performance. Recent studies on CCMs and hysteresis systems mostly addressed the position control. This paper introduces a new approach for modeling the torque transmission and controlling the output torque of a pair of CCMs, which are used to actuate the robotic foot for footwear testing. The proximal torque is used as the input signal for the Bouc-Wen hysteresis model to portray the torque transmission profile while a new robust adaptive control scheme is developed to online estimate and compensate for the nonlinearities and hysteresis effects. Both theoretical proof of stability and experimental validation of the new torque controller have been carried out and reported in this paper. Control experiments of other closed-loop control algorithms have been also conducted to compare their performance with the new controller effectiveness. Qualitative and quantitative results show that the new control approach significantly enhances the torque tracking performance for the system preceded by CCMs.

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Adaptive control for enhancing tracking performances of flexible tendon–sheath mechanism in natural orifice transluminal endoscopic surgery (NOTES)

Cited by 71 publications

References 44 publications

A Magnetic Soft Endoscopic Capsule-Inflated Intragastric Balloon for Weight Management

A Magnetic Soft Endoscopic Capsule-Inflated Intragastric Balloon for Weight Management

A survey on actuators-driven surgical robots

Direct torque control for cable conduit mechanisms for the robotic foot for footwear testing

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