Hysteresis Compensation of Flexible Continuum Manipulator Using RGBD Sensing and Temporal Convolutional Network

Park, Junhyun; Jang, Seonghyeok; Park, Hyojae; Bae, Seongjun; Hwang, Minho

doi:10.1109/lra.2024.3398501

IEEE Robot. Autom. Lett.

2024

DOI: 10.1109/lra.2024.3398501

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Hysteresis Compensation of Flexible Continuum Manipulator Using RGBD Sensing and Temporal Convolutional Network

Junhyun Park,

Seonghyeok Jang,

Hyojae Park

et al.

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2024

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Cited by 2 publications

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

Park,

Jang,

Park

et al. 2024

Robotics Computer Surgery

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BackgroundCable‐driven continuum manipulators (CDCMs) enable scar‐free procedures but face limitations in workspace and control accuracy due to hysteresis.MethodsWe 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.ResultsPerformance 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.ConclusionThe 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.

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

Park,

Jang,

Park

et al. 2024

Robotics Computer Surgery

View full text Add to dashboard Cite

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Design and Analysis of Additional Tendon Path for Determining Bending Shape in Hyper-Redundant Manipulator with Rolling Joints

Kim

2024

Applied Sciences

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Flexible surgical robots are emerging as advanced tools for minimally invasive surgeries, offering greater versatility compared to traditional rigid robots. Unlike commercial endoscopes, the overtube should remain fixed to maintain stability, ensure a clear field of view, and allow surgical tools to perform tasks efficiently. While constant curvature bending of the overtube is sufficient for some lesions, certain lesions require the overtube to bend into specific shapes to achieve appropriate positioning. Various methods for creating different bending shapes have been proposed in previous research, typically involving connecting multiple segments. However, this approach complicates control and reduces both space and cost efficiency. This study proposed a conceptual method for adding a shaping tendon to control the bending shape and mathematically analyzed the effect of this shaping tendon, inserted along an arbitrary path in addition to the main driving tendons for constant curvature bending, on the bending shape of the hyper-redundant manipulator with rolling joints. The overall system was modeled and analyzed from an energy perspective, and the validity of the proposed mathematical modeling was verified through comparison with results obtained from physical experiments. In addition, it was identified that the design parameter determining the tendon path is a significant element in defining the bending shape of the overtube.

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Hysteresis Compensation of Flexible Continuum Manipulator Using RGBD Sensing and Temporal Convolutional Network

Cited by 2 publications

References 31 publications

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

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

Design and Analysis of Additional Tendon Path for Determining Bending Shape in Hyper-Redundant Manipulator with Rolling Joints

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