SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-time Hysteresis Compensation Control Algorithm
Abstract
Cable-Driven Continuum Manipulators (CDCMs) enable scar-free procedures but face limitations in workspace and control accuracy due to hysteresis. We introduce an extensible CDCM with a Semi-active Mechanism (SAM) and develop a real-time hysteresis compensation control algorithm using a Temporal Convolutional Network (TCN) based on data collected from fiducial markers and RGBD sensing. Performance validation shows the proposed controller significantly reduces hysteresis by up to 69.5% in random trajectory tracking test and approximately 26% in the box pointing task. The SAM mechanism enables access to various lesions without damaging surrounding tissues. The proposed controller with TCN-based compensation effectively predicts hysteresis behavior and minimizes position and joint angle errors in real-time, which has the potential to enhance surgical task performance.
Keywords
Cite
@article{arxiv.2406.18388,
title = {SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-time Hysteresis Compensation Control Algorithm},
author = {Junhyun Park and Seonghyeok Jang and Myeongbo Park and Hyojae Park and Jeonghyeon Yoon and Minho Hwang},
journal= {arXiv preprint arXiv:2406.18388},
year = {2025}
}
Comments
22 pages, 19 figures, 9 tables