Abstract
Due to nonlinear friction and backlash characteristics of cable-driven mechanism (CDM) in laparoscope surgical robot end-effector, it is difficult to predict force and control position precisely during the surgical procedure. Current studies of transmission characteristics of CDM mainly focus on the tendon-sheath system (TSS) with the classical Capstan equation which neglects the effect of bending rigidity of the cable. However, analysis for transmission characteristics of a cable-pulley system (CPS) is rare. This paper presents a tension and displacement transmission model of a CPS in the end-effector of laparoscope surgical robot. The model considers the bending rigidity of the cable and spatial location of the pulleys. Experiments validate the proposed model. Based on the model, a position compensation algorithm of feedforward control is presented to reduce the tracking position errors. The experimental validations show substantial improvements on performance of position tracking errors for the use of the proposed algorithm.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
