Authors:
T. N. Do
1
;
T. Tjahjowidodo
1
;
M. W. S. Lau
2
and
S. J. Phee
1
Affiliations:
1
Nanyang Technological University, Singapore
;
2
Newcastle University International Singapore (NUIS), Singapore
Keyword(s):
Surgical Robot, Cable-Conduit, Nonlinear Control, Adaptive Laws, Flexible Endoscope.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Nonlinear Signals and Systems
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Telerobotics and Teleoperation
Abstract:
Natural Orifice Transluminal Endoscopic Surgery (NOTES) is a method that allows for performing complex
operations via natural orifices without skin incisions. Its main tool is a flexible endoscope. Cable-Conduit
Mechanisms (CCMs) are often used in NOTES because of its simplicity, safety in design, and easy transmission.
Backlash hysteresis nonlinearities between the cable and the conduit pose difficulties in the motion
control of the NOTES system. It is challenging to achieve the precise position of robotic arms when the slave
manipulator inside the humans body. This paper presents new approaches to model and control for pairs of
CCMs. It is known that the change of cable-conduit configuration will affect the backlash hysteresis nonlinearities.
To deal with such change, a new nonlinear and adaptive control scheme will be introduced. The
backlash hysteresis parameters are online estimated under the assumption of availability of output feedback
and unknown bound of nonlinear p
arameters. To validate the proposed approach, a prototype of single-DOF-Master-Slave
system, which consists of a master console, a telesurgical workstation, and a slave manipulator,
is also presented. The proposed compensation scheme is experimentally validated using the designed system.
The results show that the proposed control scheme efficiently improves the tracking performances of the
system regardless of the change of endoscope configuration.
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