Research on force and position control performance of the tendon sheath system with time‐varying parameters and flexible robotic arms
Background The tendon‐sheath‐system (TSS) is an excellent medium for remote power transmission, which is widely used in laparoscopic surgery robots. Since the operation process requires the robot to move continuously, this time‐varying characteristic further aggravates the force and position transmi...
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| Veröffentlicht in: | The international journal of medical robotics + computer assisted surgery 2023-08, Vol.19 (4), p.e2517-n/a |
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| container_issue | 4 |
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| container_title | The international journal of medical robotics + computer assisted surgery |
| container_volume | 19 |
| creator | Tang, Yu Pan, Mingzhang Lin, Yizhong Liang, Ke |
| description | Background
The tendon‐sheath‐system (TSS) is an excellent medium for remote power transmission, which is widely used in laparoscopic surgery robots. Since the operation process requires the robot to move continuously, this time‐varying characteristic further aggravates the force and position transmission loss caused by the nonlinear friction of TSS, which affects the control accuracy of the surgical robot.
Method
A time‐varying tendon‐sheath transmission model (RT model) is proposed. A feedforward control system is designed to improve tendon‐sheath transmission accuracy. Furthermore, a tendon‐sheath transmission model with velocity characteristics (RV model) is established.
Result
Force, position, and velocity experiments were carried out on the platform of TSS with a robotic arm. The results show that the R‐square values of force and position compensation are at least 96.57% and 99.16%.
Conclusion
The proposed RT and RV models are effective in compensating for the TSS transmission loss during the operation of the surgical robot. |
| doi_str_mv | 10.1002/rcs.2517 |
| format | Article |
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The tendon‐sheath‐system (TSS) is an excellent medium for remote power transmission, which is widely used in laparoscopic surgery robots. Since the operation process requires the robot to move continuously, this time‐varying characteristic further aggravates the force and position transmission loss caused by the nonlinear friction of TSS, which affects the control accuracy of the surgical robot.
Method
A time‐varying tendon‐sheath transmission model (RT model) is proposed. A feedforward control system is designed to improve tendon‐sheath transmission accuracy. Furthermore, a tendon‐sheath transmission model with velocity characteristics (RV model) is established.
Result
Force, position, and velocity experiments were carried out on the platform of TSS with a robotic arm. The results show that the R‐square values of force and position compensation are at least 96.57% and 99.16%.
Conclusion
The proposed RT and RV models are effective in compensating for the TSS transmission loss during the operation of the surgical robot.</description><identifier>ISSN: 1478-5951</identifier><identifier>EISSN: 1478-596X</identifier><identifier>DOI: 10.1002/rcs.2517</identifier><identifier>PMID: 37042101</identifier><language>eng</language><publisher>England: Wiley Subscription Services, Inc</publisher><subject>Accuracy ; Control systems design ; Feedforward control ; force control ; motion compensation ; nonlinear friction ; Robot arms ; robotic arm ; Robotic surgery ; Sheaths ; tendon sheath system ; Tendons ; Transmission loss</subject><ispartof>The international journal of medical robotics + computer assisted surgery, 2023-08, Vol.19 (4), p.e2517-n/a</ispartof><rights>2023 John Wiley & Sons Ltd.</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><cites>FETCH-LOGICAL-c3447-4957e75e05f3391a6da2f3e32da58778effb953f7e2cdf48c5575d9ab1c147d13</cites><orcidid>0000-0002-3785-4806</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://onlinelibrary.wiley.com/doi/pdf/10.1002%2Frcs.2517$$EPDF$$P50$$Gwiley$$H</linktopdf><linktohtml>$$Uhttps://onlinelibrary.wiley.com/doi/full/10.1002%2Frcs.2517$$EHTML$$P50$$Gwiley$$H</linktohtml><link.rule.ids>314,776,780,1411,27901,27902,45550,45551</link.rule.ids><backlink>$$Uhttps://www.ncbi.nlm.nih.gov/pubmed/37042101$$D View this record in MEDLINE/PubMed$$Hfree_for_read</backlink></links><search><creatorcontrib>Tang, Yu</creatorcontrib><creatorcontrib>Pan, Mingzhang</creatorcontrib><creatorcontrib>Lin, Yizhong</creatorcontrib><creatorcontrib>Liang, Ke</creatorcontrib><title>Research on force and position control performance of the tendon sheath system with time‐varying parameters and flexible robotic arms</title><title>The international journal of medical robotics + computer assisted surgery</title><addtitle>Int J Med Robot</addtitle><description>Background
The tendon‐sheath‐system (TSS) is an excellent medium for remote power transmission, which is widely used in laparoscopic surgery robots. Since the operation process requires the robot to move continuously, this time‐varying characteristic further aggravates the force and position transmission loss caused by the nonlinear friction of TSS, which affects the control accuracy of the surgical robot.
Method
A time‐varying tendon‐sheath transmission model (RT model) is proposed. A feedforward control system is designed to improve tendon‐sheath transmission accuracy. Furthermore, a tendon‐sheath transmission model with velocity characteristics (RV model) is established.
Result
Force, position, and velocity experiments were carried out on the platform of TSS with a robotic arm. The results show that the R‐square values of force and position compensation are at least 96.57% and 99.16%.
Conclusion
The proposed RT and RV models are effective in compensating for the TSS transmission loss during the operation of the surgical robot.</description><subject>Accuracy</subject><subject>Control systems design</subject><subject>Feedforward control</subject><subject>force control</subject><subject>motion compensation</subject><subject>nonlinear friction</subject><subject>Robot arms</subject><subject>robotic arm</subject><subject>Robotic surgery</subject><subject>Sheaths</subject><subject>tendon sheath system</subject><subject>Tendons</subject><subject>Transmission loss</subject><issn>1478-5951</issn><issn>1478-596X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2023</creationdate><recordtype>article</recordtype><recordid>eNp1kc1q3DAURkVpSSY_0Ccogm6y8VSyJMtehqFNAgOFtIXsjCxf1Qq25UiaprPLLts8Y54kSmY6gUBX9-PqcJD0IfSRkjklJP_idZjngsp3aEa5LDNRFVfvd1nQfXQQwjUhXPCC76F9JgnPKaEzdH8JAZTXHXYjNs5rwGps8eSCjTattBujdz2ewKfTQY0JcAbHDnCEsU1E6EDFDod1iDDgW5tytAM83j38UX5tx994Ul4NEMGHF7fp4a9tesDeNS5ajZUfwhH6YFQf4Hg7D9Gvb19_Ls6z5fezi8XpMtOMc5nxSkiQAogwjFVUFa3KDQOWt0qUUpZgTFMJZiTkujW81EJI0VaqoTp9RkvZITrZeCfvblYQYj3YoKHv1QhuFeq8JITyisgioZ_foNdu5cd0u0QxJigVZfEq1N6F4MHUk7dDenlNSf1cTp3KqZ_LSeinrXDVDNDuwH9tJCDbALe2h_V_RfXl4seL8AnMGpuI</recordid><startdate>202308</startdate><enddate>202308</enddate><creator>Tang, Yu</creator><creator>Pan, Mingzhang</creator><creator>Lin, Yizhong</creator><creator>Liang, Ke</creator><general>Wiley Subscription Services, Inc</general><scope>NPM</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope><scope>JQ2</scope><scope>K9.</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>7X8</scope><orcidid>https://orcid.org/0000-0002-3785-4806</orcidid></search><sort><creationdate>202308</creationdate><title>Research on force and position control performance of the tendon sheath system with time‐varying parameters and flexible robotic arms</title><author>Tang, Yu ; Pan, Mingzhang ; Lin, Yizhong ; Liang, Ke</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c3447-4957e75e05f3391a6da2f3e32da58778effb953f7e2cdf48c5575d9ab1c147d13</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2023</creationdate><topic>Accuracy</topic><topic>Control systems design</topic><topic>Feedforward control</topic><topic>force control</topic><topic>motion compensation</topic><topic>nonlinear friction</topic><topic>Robot arms</topic><topic>robotic arm</topic><topic>Robotic surgery</topic><topic>Sheaths</topic><topic>tendon sheath system</topic><topic>Tendons</topic><topic>Transmission loss</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Tang, Yu</creatorcontrib><creatorcontrib>Pan, Mingzhang</creatorcontrib><creatorcontrib>Lin, Yizhong</creatorcontrib><creatorcontrib>Liang, Ke</creatorcontrib><collection>PubMed</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>ProQuest Health & Medical Complete (Alumni)</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>MEDLINE - Academic</collection><jtitle>The international journal of medical robotics + computer assisted surgery</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Tang, Yu</au><au>Pan, Mingzhang</au><au>Lin, Yizhong</au><au>Liang, Ke</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Research on force and position control performance of the tendon sheath system with time‐varying parameters and flexible robotic arms</atitle><jtitle>The international journal of medical robotics + computer assisted surgery</jtitle><addtitle>Int J Med Robot</addtitle><date>2023-08</date><risdate>2023</risdate><volume>19</volume><issue>4</issue><spage>e2517</spage><epage>n/a</epage><pages>e2517-n/a</pages><issn>1478-5951</issn><eissn>1478-596X</eissn><abstract>Background
The tendon‐sheath‐system (TSS) is an excellent medium for remote power transmission, which is widely used in laparoscopic surgery robots. Since the operation process requires the robot to move continuously, this time‐varying characteristic further aggravates the force and position transmission loss caused by the nonlinear friction of TSS, which affects the control accuracy of the surgical robot.
Method
A time‐varying tendon‐sheath transmission model (RT model) is proposed. A feedforward control system is designed to improve tendon‐sheath transmission accuracy. Furthermore, a tendon‐sheath transmission model with velocity characteristics (RV model) is established.
Result
Force, position, and velocity experiments were carried out on the platform of TSS with a robotic arm. The results show that the R‐square values of force and position compensation are at least 96.57% and 99.16%.
Conclusion
The proposed RT and RV models are effective in compensating for the TSS transmission loss during the operation of the surgical robot.</abstract><cop>England</cop><pub>Wiley Subscription Services, Inc</pub><pmid>37042101</pmid><doi>10.1002/rcs.2517</doi><tpages>18</tpages><orcidid>https://orcid.org/0000-0002-3785-4806</orcidid><oa>free_for_read</oa></addata></record> |
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| issn | 1478-5951 1478-596X |
| language | eng |
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| source | Wiley Online Library Journals Frontfile Complete |
| subjects | Accuracy Control systems design Feedforward control force control motion compensation nonlinear friction Robot arms robotic arm Robotic surgery Sheaths tendon sheath system Tendons Transmission loss |
| title | Research on force and position control performance of the tendon sheath system with time‐varying parameters and flexible robotic arms |
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