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

Qi, Fei; Ju, Feng; Bai, Dongming; Wang, Yaoyao; Bai, Chen

doi:10.1002/rcs.1932

Cited by 18 publications

(21 citation statements)

References 20 publications

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“…According to the Kane's method, 26 the dynamic model can be established when the virtual power P of the external forces and moments is zero, as shown in Equation (). Assuming that the external force and moment of each segment are

F_{i, e x}, M_{i, e x}

, and based on the corresponding linear, angular velocity and acceleration, the dynamic model of the continuum robot is shown in Equation ().…”

Section: Dynamic Analysismentioning

confidence: 99%

“…So the friction of the cable‐pulley system will inevitably affect the tension transmission of the driving cable, which impacts the control performance of the continuum robot. Therefore, the friction of the cable‐pulley system is briefly analysed in this section, which has been studied in our paper 26 …”

Section: Numerical Simulationmentioning

confidence: 99%

“…Equation () is a modified Capstan equation with considering the influence of the bending rigidity and nonlinear friction, which can accurately describe the viscoelastic deformation of the cable‐pulley system, and the detailed information about this friction model can be found in our previous published paper 26 . The solution of Equation () can be obtained by using the ODEs solver in MATLAB with the boundary condition Equation ().…”

Section: Numerical Simulationmentioning

confidence: 99%

“…The transmission characteristics of the cable-pulley system can accurately describe the viscoelastic deformation of the cablepulley system, and the detailed information about this friction model can be found in our previous published paper. 26 The solution of Equation ( 34) can be obtained by using the ODEs solver in MATLAB with the boundary condition Equation (35). But first of all, the differential equations should be reformulated into a set of firstorder equations.…”

mentioning

confidence: 99%

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Dynamic model and control for a cable‐driven continuum manipulator used for minimally invasive surgery

Chen

Gao

et al. 2021

Robotics Computer Surgery

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Background Due to its unique flexible and dexterity, continuum robot has been widely used in small constrained environment. However, those advantages also bring that motion modelling and accurate control for the continuum robot is more complicated and tedious. A dynamic model and control strategy is presented for improving its control performance. Methods The kinematics and velocity model of the robot are derived. The inertial force, elastic force, gravity and actuation force applied to the continuum robot are analysed. Meanwhile, the friction in drive system is investigated, and dynamic model is established by the Kane's method. Finally, a motion control strategy is proposed based on this model to verify the dynamic model. Results Results of the simulation and experiment of a prototype verify the proposed model and its control method. Conclusions The proposed model and control strategy can be used to achieve the bending deformation of the robot.

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F_{i, e x}, M_{i, e x}

, and based on the corresponding linear, angular velocity and acceleration, the dynamic model of the continuum robot is shown in Equation ().…”

Section: Dynamic Analysismentioning

confidence: 99%

Section: Numerical Simulationmentioning

confidence: 99%

Section: Numerical Simulationmentioning

confidence: 99%

mentioning

confidence: 99%

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Dynamic model and control for a cable‐driven continuum manipulator used for minimally invasive surgery

Chen

Gao

et al. 2021

Robotics Computer Surgery

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“…In order to overcome the disadvantages of the traditional articulated rigid robot, we proposed a novel modular cable‐driven continuum robot in previous research, which is shown in Figure . The continuum robot consists of a super‐elastic NiTi alloy backbone fixed at the distal (tip) disk, a silicone shell, space disks, which can achieve the shape deformation by adapting the length of each driving cable.…”

Section: Robot Structure and Kinematicsmentioning

confidence: 99%

Kinematic analysis and navigation method of a cable‐driven continuum robot used for minimally invasive surgery

Bai

et al. 2019

Robotics Computer Surgery

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Background Due to the outstanding compliance and dexterity, continuum robot have great advantages in confined space applications, especially in minimally invasive surgery (MIS). However, the vascular environment is complicated and tortuous, it is necessary to preoperative motion planning and navigation for a continuum robot. Methods A cable‐driven continuum robot is proposed, and the mapping relationship among the driven space, joint space and task space, as well as the decoupling algorithm are analyzed based on piecewise constant curvature assumption. Moreover, a navigation method is presented to achieve semi‐autonomous interventional surgery based on the vascular constraints by using the backbone cure method. Results Finally, by using the prototype, the interventional simulations and experiments for a simulated glass blood vessel are developed to validate the feasibility and maneuverability of the proposed model and navigation method. Conclusions The established motion model and navigation method can be used as a motion control and navigation reference.

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Cable‐Driven Continuum Robot Perception Using Skin‐Like Hydrogel Sensors

Huang

Wang

Shen

et al. 2022

Adv Funct Materials

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The cable-driven continuum robot (CDCR) is a highly significant soft robot that exhibits a lightweight structure, intrinsic safety properties, and a considerable degree of freedom; therefore, it can work well in confined and complex environments. However, commonly used fiber Bragg grating sensors in CDCR systems are ultra-stiff, extremely low in elongation, and lack an adhesion mechanism; this significantly restricts the movement of the robot and tends to delaminate from it, which makes it unsuitable for integrated systems. In this study, a new strategy is developed to enable CDCR perception via skinlike hydrogel sensors made from ionic conductive polyacrylamide/alginate/ nanoclay polymeric composite hydrogels; it exhibits a fracture strain of 1840% and adheres to a CDCR backbone with an adhesion strength of 6.6 kPa. The sensors are sensitive, stable, and reliable, and they can be manually operated to draw portraits using sensing curves as painted lines. Through these sensors, the CDCR acquires proprioception for sensing movements and exteroception for sensing barriers and traps. The hydrogel sensors are further employed to build a closed-loop control system for regulating the bending of the CDCR. This study establishes effective routes for designing sensors and closed-loop systems that can be applied to soft robots.

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

Abstract: The established model and the proposed compensation method can be used for the cable-driven continuum robot to guarantee safety and stability in MIS.

Cited by 18 publications

References 20 publications

Dynamic model and control for a cable‐driven continuum manipulator used for minimally invasive surgery

Dynamic model and control for a cable‐driven continuum manipulator used for minimally invasive surgery

Kinematic analysis and navigation method of a cable‐driven continuum robot used for minimally invasive surgery

Cable‐Driven Continuum Robot Perception Using Skin‐Like Hydrogel Sensors

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