This work tackles practical issues which arise when using a tendon-driven robotic manipulator (TDRM) with a long, flexible, passive proximal section in medical applications. Tendon-driven devices are preferred in medicine for their improved outcomes via minimally invasive procedures, but TDRMs come with unique challenges such as sterilization and reuse, simultaneous control of tendons, hysteresis in the tendon-sheath mechanism, and unmodeled effects of the proximal section shape. A separable TDRM which overcomes difficulties in actuation and sterilization is introduced, in which the body containing the electronics is reusable and the remainder is disposable. An open-loop redundant controller which resolves the redundancy in the kinematics is developed. Simple linear hysteresis compensation and re-tension compensation based on the physical properties of the device are proposed. The controller and compensation methods are evaluated on a testbed for a straight proximal section, a curved proximal section at various static angles, and a proximal section which dynamically changes angles; and overall, distal tip error was reduced.
翻译:本文探讨了在医疗应用中使用具有长且柔性被动近端部分的肌腱驱动机器人操作器(TDRM)时出现的实际问题。术中最小创伤是使用肌腱驱动设备的首选,但肌腱驱动机器人操作器会面临特殊挑战,如消毒和重复使用,肌腱的同时控制,肌腱外套机构的滞后和近端部分形状的未建模影响。引入了一种可分离的 TDRM,克服了执行和消毒方面的困难,在其中,包含电子元件的机身是可重复使用的,其余部分是一次性的。开环冗余控制器解决了运动学中的冗余。提出了基于装置物理特性的简单线性滞后补偿和重新张紧补偿。在测试驱动下,评估了控制器和补偿方法,涵盖了直线近端部分,静态角度不同的曲线近端部分和动态变化角度的近端部分。总体而言,减小了末端的误差。