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

Int J Med Robot. 2024 Dec;20(6):e70014. doi: 10.1002/rcs.70014.

Abstract

Background: Cable-driven continuum manipulators (CDCMs) enable scar-free procedures but face limitations in workspace and control accuracy due to hysteresis.

Methods: We introduce an extensible CDCM with a semi-active mechanism (SAM) and develop a real-time hysteresis compensation control algorithm using a temporal convolution network (TCN) based on data collected from fiducial markers and RGBD sensing.

Results: 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.

Conclusion: The SAM mechanism enables access to various lesions without damaging surrounding tissues. The proposed controller with TCN-based compensation effectively predicts hysteresis behaviour and minimises position and joint angle errors in real-time, which has the potential to enhance surgical task performance.

Keywords: computer‐assisted surgery; continuum robots; extensible continuum; flexible manipulator; hysteresis compensation; temporal convolution network.

MeSH terms

  • Algorithms*
  • Equipment Design
  • Fiducial Markers
  • Humans
  • Neural Networks, Computer
  • Reproducibility of Results
  • Robotic Surgical Procedures / instrumentation
  • Robotic Surgical Procedures / methods
  • Surgery, Computer-Assisted / instrumentation
  • Surgery, Computer-Assisted / methods