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Authors: T. N. Do 1 ; T. Tjahjowidodo 1 ; M. W. S. Lau 2 and S. J. Phee 1

Affiliations: 1 Nanyang Technological University, Singapore ; 2 Newcastle University International Singapore (NUIS), Singapore

ISBN: 978-989-758-039-0

Keyword(s): Surgical Robot, Cable-Conduit, Nonlinear Control, Adaptive Laws, Flexible Endoscope.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Nonlinear Signals and Systems ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; Telerobotics and Teleoperation

Abstract: 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 pa rameters. 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. (More)

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Paper citation in several formats:
Do, T.; Tjahjowidodo, T.; Lau, M. and Phee, S. (2014). Adaptive Control of Position Compensation for Cable-Conduit Mechanisms Used in Flexible Surgical Robots.In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-039-0, pages 110-117. DOI: 10.5220/0005114701100117

@conference{icinco14,
author={T. N. Do. and T. Tjahjowidodo. and M. W. S. Lau. and S. J. Phee.},
title={Adaptive Control of Position Compensation for Cable-Conduit Mechanisms Used in Flexible Surgical Robots},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={110-117},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005114701100117},
isbn={978-989-758-039-0},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Adaptive Control of Position Compensation for Cable-Conduit Mechanisms Used in Flexible Surgical Robots
SN - 978-989-758-039-0
AU - Do, T.
AU - Tjahjowidodo, T.
AU - Lau, M.
AU - Phee, S.
PY - 2014
SP - 110
EP - 117
DO - 10.5220/0005114701100117

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