Modeling and motion compensation of a bidirectional tendon-sheath actuated system for robotic endoscopic surgery. Issue 2 (April 2015)

• Record Type: Journal Article
• Authors: Sun, Zhenglong; Wang, Zheng; Phee, Soo Jay
• Is Part Of: Computer methods and programs in biomedicine. Volume 119:Issue 2(2015)
• Page Start: 77
• Page End: 87
• Publication Date: 2015-04
• Subjects: Medicine -- Computer programs -- Periodicals; Biology -- Computer programs -- Periodicals; Computers -- Periodicals; Medicine -- Periodicals; Médecine -- Logiciels -- Périodiques; Biologie -- Logiciels -- Périodiques; Biology -- Computer programs; Medicine -- Computer programs; Periodicals; Electronic journals; 610.28
• DOI: 10.1016/j.cmpb.2015.03.001
• Languages: English
• ISSNs: 0169-2607

Abstract

<abstract abstract-type="author-highlights" id="abs0005"> <title> <x xml:space="preserve">Abstract</x> </title> <sec> <title id="sect0005">Highlights</title> <p id="spar0005"> <list id="list0010"> <list-item id="listitem0015"> <label></label> <p id="p0005">We reviewed the current shortage in the development of robotic endoscopic surgery.</p> </list-item> <list-item id="listitem0020"> <label></label> <p id="p0010">Motion transmission of a bidirectional tendon-driven system was characterized.</p> </list-item> <list-item id="listitem0025"> <label></label> <p id="p0015">Two errors uniquely related to the robotic system setup were identified and modeled.</p> </list-item> <list-item id="listitem0030"> <label></label> <p id="p0020">Compensation method was proposed for accurate motion control regardless of any variations in the environment loading.</p> </list-item> <list-item id="listitem0035"> <label></label> <p id="p0025">Experimental validation was presented by emulating mechanism transmission in a typical robotic endoscopic surgery setup.</p> </list-item> </list> </p> </sec> </abstract>