SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-time Hysteresis Compensation Control Algorithm

Cable-Driven Continuum Manipulators (CDCMs) enable scar-free procedures but face limitations in workspace and control accuracy due to hysteresis. We introduce an extensible CDCM with a Semi-active Mechanism (SAM) and develop a real-time hysteresis compensation control algorithm using a Temporal Conv...

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Bibliographic Details
Published in:arXiv.org 2024-09
Main Authors: Park, Junhyun, Jang, Seonghyeok, Park, Myeongbo, Park, Hyojae, Yoon, Jeonghyeon, Hwang, Minho
Format: Article
Language:English
Subjects:
Actuation
Algorithms
Compensation
Control theory
Datasets
Extensibility
Hysteresis
Manipulators
Orifices
Real time
Translational motion
Workspace
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Summary:Cable-Driven Continuum Manipulators (CDCMs) enable scar-free procedures but face limitations in workspace and control accuracy due to hysteresis. We introduce an extensible CDCM with a Semi-active Mechanism (SAM) and develop a real-time hysteresis compensation control algorithm using a Temporal Convolutional Network (TCN) based on data collected from fiducial markers and RGBD sensing. Performance 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. The SAM mechanism enables access to various lesions without damaging surrounding tissues. The proposed controller with TCN-based compensation effectively predicts hysteresis behavior and minimizes position and joint angle errors in real-time, which has the potential to enhance surgical task performance.
ISSN:2331-8422