Adaptive control of position compensation for cable-conduit mechanisms used in flexible surgical robots
Thanh Nho, Do
Lau, Michael Wai Shing
Phee, Soo Jay
Date of Issue2014
11th International Conference on Informatics in Control, Automation and Robotics
School of Mechanical and Aerospace Engineering
Robotics Research Centre
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 parameters. 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.
DRNTU::Engineering::Mechanical engineering::Kinematics and dynamics of machinery
© 2014 SCITEPRESS. This paper was published in Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO) and is made available as an electronic reprint (preprint) with permission of SCITEPRESS. The paper can be found at the following official DOI: [http://dx.doi.org/10.5220/0005114701100117]. One print or electronic copy may be made for personal use only. Systematic or multiple reproduction, distribution to multiple locations via electronic or other means, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper is prohibited and is subject to penalties under law.