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

• URL: http://arxiv.org/abs/2406.18388v3
• Date: Mon, 30 Sep 2024 08:11:20 GMT
• Title: SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-time Hysteresis Compensation Control Algorithm
• Authors: Junhyun Park, Seonghyeok Jang, Myeongbo Park, Hyojae Park, Jeonghyeon Yoon, Minho Hwang,
• Abstract summary: We introduce an CDCM with a Semi-active Mechanism (SAM) and develop a real-time compensation control algorithm using a Temporal Convolutional Network (TCN) Performance validation shows the proposed controller significantly reduces by up to 69.5% in random trajectory tracking test and approximately 26% in the box pointing task.
• Score: 2.2534780624797617
• License:
• Abstract: 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.

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