Real-time enhancement of tracking performances for cable-conduit mechanisms-driven flexible robots
Real-time enhancement of tracking performances for cable-conduit mechanisms-driven flexible robots
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DOI：
10.1016/j.rcim.2015.05.001
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发表时间：
2016-02-01
影响因子：
10.4
通讯作者：
Phee, S. J.
中科院分区：
文献类型：
--
作者：
Do, T. N.;Tjahjowidodo, T.;Phee, S. J.
自然腔道内镜手术（NOTES）是一种允许通过自然腔道进行复杂手术而无需皮肤切口的方法。它的主要工具是一个柔性内窥镜。索管机构（CCM）或腱鞘机构（TSM）由于其结构简单、设计安全、传输方便等特点，常用于NOTES。电缆和管道之间的非线性对NOTES系统的运动控制提出了挑战。当系统在人体内时，很难实现机器人手臂的精确位置。本文提出了新的方法来建模和控制一对CCM（TSM）的NOTES系统中使用。针对索管结构在运行过程中的变化，提出了两种控制方案：（1）构造了具有离线回差滞后学习的更新表;在这种情况下，一个简单的计算的直接逆齿隙滞后模型引入不使用输出反馈补偿;及（ii）在线估计的齿隙滞后分布的假设下，输出反馈的可用性。在这种情况下，自适应控制律用于处理内窥镜配置的变化。所提出的模型和补偿控制方案进行了实验验证使用的单自由度主从系统，它包括一个主控制台，一个外科工作站，和一个从机械手的原型。结果表明，所提出的模型和控制方案提高了系统的跟踪性能。(C)2015爱思唯尔有限公司版权所有。
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 mechanism (CCM) or tendon-sheath Mechanism (TSM) is often used in NOTES because of its simplicity, safety in design, and easy transmission. Nonlinearities between the cable and the conduit pose challenges in the motion control of the NOTES system. It is very difficult to achieve the precise position of robotic arms when the system is inside a human's body. This paper presents new approaches to model and control a pair of CCMs (TSMs) used in NOTES system. To deal with the change of cable-conduit configurations during its operation, two control schemes are proposed: (i) an updated table with offline backlash hysteresis learning is constructed. In this case, a simple computation of the direct inverse backlash hysteresis model is introduced without using output feedback for compensation; and (ii) an online estimation of the backlash hysteresis profile under the assumption of availability of output feedback. In this case, adaptive control laws are used to deal with the change of the endoscope configuration. The proposed model and compensation control schemes are experimentally validated using a prototype of a single-DOF-Master-Slave system, which consists of a master console, a telesurgical workstation, and a slave manipulator. The results show that the proposed model and the control schemes improve the tracking performances of the system. (C) 2015 Elsevier Ltd. All rights reserved.