Efficient Data-driven Joint-level Calibration of Cable-driven Surgical Robots

Knowing accurate joint positions is crucial for safe and precise control of laparoscopic surgical robots, especially for the automation of surgical sub-tasks. These robots have often been designed with cable-driven arms and tools because cables allow for larger motors to be placed at the base of the...

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Veröffentlicht in:	arXiv.org 2024-08
Hauptverfasser:	Peng, Haonan, Lewis, Andrew, Yun-Hsuan Su, Lin, Shan, Dun-Tin Chiang, Jiang, Wenfan, Lai, Helen, Hannaford, Blake
Format:	Artikel
Sprache:	eng
Schlagworte:	Accuracy Artificial neural networks Cables Calibration Error correction Error reduction Kinematics Regression models Robot control Robotics Robots Servocontrol Surgical instruments
Online-Zugang:	Volltext
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