Robotics-Assisted Control of Steerable Ablation Catheters Based on the Analysis of Tendon-Sheath Transmission Mechanisms

Khoshnam, Mahta; Patel, Rajni V.

doi:10.1109/tmech.2017.2688320

Cited by 26 publications

(8 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…TSMs have been widely used in flexible endoscopic robots 2 , steerable endovascular catheters 4 , and other continuum manipulators 5 . However, two general challenges exist when implementing haptic feedback solution with these robotic systems: 1) highly nonlinear shapedependent friction between the tendon and sheath, which leads to motion backlash, pretension-dependent stability, and force hysteresis 6 ; 2) critical space constraints due to small end-effectors, which makes sensor installation process arduous.…”

Section: Introductionmentioning

confidence: 99%

“…Kaneko et al developed a numerical tension transmission model for a single TSM with uniform preloading and fixed curvature 7 . Although the assumption of constant pretension and curvature restrict its practicability, their finding in proximal-distal force relationship has been the foundation of subsequent TSM studies in flexible endoscopic robots 4,8,9 . Li et al also proposed a deep learning method to predict distal force in TSMs based on measured proximal force 10 .…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An Integrated Sensor-Model Approach for Haptic Feedback of Flexible Endoscopic Robots

et al. 2019

View full text Add to dashboard Cite

Haptic feedback for flexible endoscopic surgical robots is challenging due to space constraints for sensors and shape-dependent force hysteresis of tendon-sheath mechanisms (TSMs). This paper proposes (1) a single-axis fiber Bragg grating (FBG)-based force sensor for a TSM of a robotic arm and (2) an integrated sensor-model approach to estimate forces on other TSMs of that arm. With a robust and simple structure, a temperature-compensated sensor can be mounted on the distal sheath to measure forces applied by the TSM. This proposed sensor was integrated with a Ø4.2 mm articulated robotic arm driven by six TSMs, with a measurement error of 0.37N in this work. The measurement from the single sensor was used to identify parameters in the force-transmission models of all other TSMs in the robot, realizing a one-sensor-for-all-distal-forces measurement method. The sensor-model approach could accurately estimate the distal force with an RMSE of 0.65N. An animal study was carried out to demonstrate the sensor's feasibility in real-life surgery. The sensor-model approach presented a robust, space-saving, and cost-effective solution for haptic feedback of endoscopic robots without any assumption on the shapes of the robot.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An Integrated Sensor-Model Approach for Haptic Feedback of Flexible Endoscopic Robots

et al. 2019

View full text Add to dashboard Cite

show abstract

“…In recent years, the tendon-sheath system (TSS) is used as a transfer actuator in some transmission systems. 16,17 TSS consisting of an inner steel wire rope and an outer sheath is a flexible transmission device, which can transfer force and displacement from a proximal end to a distal end. The advantage of TSS over other transmission systems is that the force can travel long distances in a narrow curved space.…”

Section: Introductionmentioning

confidence: 99%

Force and deformation transmission characteristics of a compliant tendon–sheath actuation system based on Hill-type muscle model

Shao

Bai

et al. 2019

Proc Inst Mech Eng H

View full text Add to dashboard Cite

Artificial muscle is a kind of transmission actuator widely used in rehabilitation robots and wearable devices. However, there are some restrictions on the usage of these artificial muscles, including the short stroke length, complex structure, special power sources, and high nonlinear characteristics. Inspired by Hill-type muscle model, in this article, a new kind of artificial muscle using tendon–sheath and compliant springs is proposed to perform muscle-like characteristics. Force and deformation transmission models are proposed and validated by simulations and experiments. The experimental and simulation output results show nice goodness-of-fit and the R-square values are 0.9876 and 0.9046, respectively. Moreover, experiments are carried out in groups to analyze the transmission characteristics using different parameters, including variations of series springs, velocities, tendon diameters, and bending angles. The best R-square value of force–elongation curve and fitness curve could reach 0.9845, which indicates that the transmission model of the compliant artificial muscle can be used to express the transmission characteristics of the skeleton muscles.

show abstract

“…In the flexible endoscopic surgical robot [7,9,10], tendon-sheath mechanisms (TSMs) [11,12] are often employed as the transmission system due to their flexibility, lightweight, small sizes, high force capacity, reliability, and safety. However, it is challenging to realize accurate force [13] and motion [14] control for TSM-driven surgical robots due to the inherent shape-dependent and actuation-speed-dependent hysteresis/backlash issue [15] resulted from the friction and tendon elongation of TSMs [16]. The inaccurate force and motion control in the surgical robot causes problems like cognitive burdens to the operator, potential injuries from excessive forces [17][18][19], and poor surgical performance [20][21][22].…”

Section: List Of Tablesmentioning

confidence: 99%

“…Based on proximal measurements, Khoshnam et al presented a model to estimate the tip's orientation in a steerable ablation catheter driven by the TSM [13]. Agrawal et al…”

Section: Pose Sensingmentioning

confidence: 99%

Fibre Bragg Grating (FBG)-based force and pose sensing for endoscopic robotic systems

Lai¹

View full text Add to dashboard Cite

show abstract

Robotics-Assisted Control of Steerable Ablation Catheters Based on the Analysis of Tendon-Sheath Transmission Mechanisms

Cited by 26 publications

References 25 publications

An Integrated Sensor-Model Approach for Haptic Feedback of Flexible Endoscopic Robots

An Integrated Sensor-Model Approach for Haptic Feedback of Flexible Endoscopic Robots

Force and deformation transmission characteristics of a compliant tendon–sheath actuation system based on Hill-type muscle model

Fibre Bragg Grating (FBG)-based force and pose sensing for endoscopic robotic systems

Contact Info

Product

Resources

About