Modeling Cable-Driven Robot With Hysteresis and Cable–Pulley Network Friction

Miyasaka, Muneaki; Haghighipanah, Mohammad; Li, Yangming; Matheson, Joseph; Lewis, Andrew; Hannaford, Blake

doi:10.1109/tmech.2020.2973428

Cited by 33 publications

(9 citation statements)

References 30 publications

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“…From the perspective of surgical robotics, errors of joint angle readings due to transmissions effects has largely been studied in the context of cable drives. Miyasaka et al explicitly modelled the physical effects of cable transmissions such as friction and hystresis [7]. Learning based approaches have been applied in the form of neural networks for direct estimation of cable stretch [8], [32] and gaussian processes for compensation [33].…”

Section: B Related Workmentioning

confidence: 99%

“…Similar to finding the base-to-camera transform, this is typically solved through calibration where a separate sensor, such as a camera, collects ground truth measurements and compares against the joint angle readings [6]. For non-constant errors, such as cable stretch, explicit dynamic modelling has been conducted [7] and data-driven approaches with neural networks [8]. These methods however are challenging to apply outside of a lab setting due to the need of additional sensors or calibration steps.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robotic Tool Tracking under Partially Visible Kinematic Chain: A Unified Approach

Richter¹,

Lu²,

Orosco³

et al. 2021

Preprint

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Anytime a robot manipulator is controlled via visual feedback, the transformation between the robot and camera frame must be known. However, in the case where cameras can only capture a portion of the robot manipulator in order to better perceive the environment being interacted with, there is greater sensitivity to errors in calibration of the base-tocamera transform. A secondary source of uncertainty during robotic control are inaccuracies in joint angle measurements which can be caused by biases in positioning and complex transmission effects such as backlash and cable stretch. In this work, we bring together these two sets of unknown parameters into a unified problem formulation when the kinematic chain is partially visible in the camera view. We prove that these parameters are non-identifiable implying that explicit estimation of them is infeasible. To overcome this, we derive a smaller set of parameters we call Lumped Error since it lumps together the errors of calibration and joint angle measurements. A particle filter method is presented and tested in simulation and on two real world robots to estimate the Lumped Error and show the efficiency of this parameter reduction.

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Section: B Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robotic Tool Tracking under Partially Visible Kinematic Chain: A Unified Approach

Richter¹,

Lu²,

Orosco³

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…They provide many advantages over rigid-link mechanisms, such as a larger workspace, a higher payload-weight ratio, and low manufacturing and assembly costs. Given these advantages, there have been great achievements in the design, modeling, and control of cable-driven robots [33]- [36]. Conventional CADPAMs require a rigid frame or structure to provide leverage points for the cables and to act as a geometric reference for the system.…”

Section: Introductionmentioning

confidence: 99%

The CathPilot: A Novel Approach for Accurate Interventional Device Steering and Tracking

Zhou

Quadri

Sewani

et al. 2022

IEEE/ASME Trans. Mechatron.

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Accurate device navigation and control are significant challenges in various minimally invasive cardiovascular interventions. The long length of the devices used (e.g., catheters and guidewires), their high flexibility, and their engagement with the tortuous anatomy limit the accurate and reliable control and navigation of the device's tip. This article aims to design, develop, and assess a novel alternative solution that promises to overcome the major limitations of conventional devices. By utilizing an expandable cable-driven mechanism and a corresponding 3-D cam surface for cable length adjustment, we propose a fully manually operated system that can be navigated through the tortuous anatomy and then teleoperated to allow for accurate, reliable, and localized position control and tracking of the device. In this article, the methods of design, development, and verifications of this system are presented. The system's performance is assessed under different path tortuosity conditions and different opening diameters of the expandable frame. Our results indicate that the proposed system provides complete teleoperation of the device within the full reachable workspace of the mechanism and allows for positioning and tracking of the device with submillimeter accuracy irrespective of the tortuosity of the path and expansion size of the frame. Ex-vivo phantom model experiments also show the device significantly outperforms conventional devices in terms of navigation time and success rate. The CathPilot allows for direct manipulation, accurate positioning, and tracking of the device tip relative to the anatomy, promising to overcome Manuscript

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“…6 However, the slip, friction and stretching of cables reduce the motion accuracy and stability of the instrument. 16 To gain precise transmission and enhanced stiffness, Wang et al designed a surgical manipulator with a multi-gear array mechanism, as shown in Figure 1D, 7 and a motordriven laparoscopic needle holder with the bevel gear mechanism was designed by Dexterite Surgical, as shown in Figure 1E. 8 However, the size of such instruments is limited by the size of gears, and their transmission structure is complicated and bulky.…”

Section: Introductionmentioning

confidence: 99%

Design of a dexterous robotic surgical instrument with a novel bending mechanism

Yang

Kong

et al. 2021

Robotics Computer Surgery

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Background:The robot-assisted minimally invasive surgery (RMIS) has developed rapidly in recent years, requiring highly articulated instruments to enable surgeons to perform complicated and precise procedures.Methods: A novel wrist-type surgical instrument was proposed for RMIS. The wrist consists of superelastic-wire-driven snake-like joints and universal joints, which could perform two deflections and one distal rotation. The bending mechanism and the kinematics of universal joints were analysed. The forward and inverse kinematics of the wrist were derived. Results:The performances of the instrument were evaluated using a prototype by experiments. The average motion deviation of the wrist's deflection was 0.15 � 0.08 mm, and the maximum deviation was 0.52 mm. The maximum payload capability was 10 N. The suture task and ex vivo procedure verified the effectiveness of the instrument. Conclusions:The proposed instrument has high dexterity and payload capability, which contributes to improving the quality of the RMIS procedures.

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Modeling Cable-Driven Robot With Hysteresis and Cable–Pulley Network Friction

Cited by 33 publications

References 30 publications

Robotic Tool Tracking under Partially Visible Kinematic Chain: A Unified Approach

Robotic Tool Tracking under Partially Visible Kinematic Chain: A Unified Approach

The CathPilot: A Novel Approach for Accurate Interventional Device Steering and Tracking

Design of a dexterous robotic surgical instrument with a novel bending mechanism

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