Abstract
The tendon driven mechanism using a cable and pulley to transmit power is adopted by many surgical robots. However, backlash hysteresis objectively exists in cable-pulley mechanisms, and this nonlinear problem is a great challenge in precise position control during the surgical procedure. Previous studies mainly focused on the transmission characteristics of the cable-driven system and constructed transmission models under particular assumptions to solve nonlinear problems. However, these approaches are limited because the modeling process is complex and the transmission models lack general applicability. This paper presents a novel position compensation control scheme to reduce the impact of backlash hysteresis on the positioning accuracy of surgical robots’ end-effectors. In this paper, a position compensation scheme using a support vector machine based on feedforward control is presented to reduce the position tracking error. To validate the proposed approach, experimental validations are conducted on our cable-pulley system and comparative experiments are carried out. The results show remarkable improvements in the performance of reducing the positioning error for the use of the proposed scheme.
Highlights
Robotic minimally invasive surgery (RMIS), which is famous for its high success rate in complex minimally invasive surgery, is one of the most advanced technologies in surgical fields
The proposed position compensation scheme is verified by experiments on our cable-pulley system
A classifier based on support vector machine (SVM) is trained to guarantee the real-time capability and accuracy of the movement stage classification
Summary
Robotic minimally invasive surgery (RMIS), which is famous for its high success rate in complex minimally invasive surgery, is one of the most advanced technologies in surgical fields. RMIS can help surgeons perform surgeries with maximum precision and minimal deep invasion inside a human body, and give surgeons dexterous instrument control [2,3,4]. Due to these advantages, RMIS can elevate the rates of surgical success and reduce the pain of patients, the need for medication and the duration of hospital stays [5,6]. Surgical robots do not get tired as people do, but they are not intelligent enough to judge whether an action is beneficial for patients, and they can only obey surgeons’ instructions and follow computer programs to perform operations
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