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

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2024-12-12 DOI:10.1002/rcs.70014

Junhyun Park, Seonghyeok Jang, Myeongbo Park, Hyojae Park, Jeonghyeon Yoon, Minho Hwang

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引用次数: 0

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.

查看原文本刊更多论文

SAM：可扩展连续操纵器的半主动机制和实时磁滞补偿控制算法。

背景：电缆驱动连续机械臂（CDCMs）可以实现无疤痕手术，但由于迟滞，在工作空间和控制精度方面存在限制。方法：引入一种具有半主动机制（SAM）的可扩展CDCM，并基于基准标记和RGBD传感数据，利用时间卷积网络（TCN）开发了一种实时滞后补偿控制算法。结果：性能验证表明，该控制器在随机轨迹跟踪测试中显著降低迟滞率高达69.5%，在方框指向任务中显著降低迟滞率约26%。结论：SAM机制可以在不损伤周围组织的情况下进入各种病变。所提出的基于tcn补偿的控制器可以有效地预测滞后行为，并实时最小化位置和关节角度误差，具有提高手术任务性能的潜力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.