Tendon-Based Transmission for Surgical Robotics: Systematic Experimental Friction Modeling.

Increased miniaturization of surgical instruments is essential to successfully perform surgical procedures in restricted areas as in many applications of minimally-invasive surgery. Miniaturization permits increase in dexterity and decrease in access incisions which are required in many sur- gical procedures. Tendon-based transmissions provide several important advantages for the mechanical design of miniaturized surgical devices. Reflected mass and inertia are reduced since tendon-based transmissions allow to locate the motors far apart from the actuated joint. In spite of providing several important advantages, they introduce several non linear effects that must be considered and modeled to achieve suitable performance. In this paper tendon-based transmission system for surgical robotics is illustrated. And nonlinear friction, due to direct sliding of synthetic fiber cables over small fixed pulleys (pins) is discussed and models aiming at compensating these nonlinearities are presented.

[1]  Gianluca Palli,et al.  Model and control of tendon-sheath transmission systems , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[2]  Septimiu E. Salcudean,et al.  Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation , 2002, IEEE Trans. Robotics Autom..

[3]  Allison M. Okamura,et al.  Friction compensation for a force-feedback telerobotic system , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[4]  M. Mahvash,et al.  Friction Compensation for a Force-Feedback Teleoperator with Compliant Transmission , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[5]  Hideki Hashimoto,et al.  Friction compensation for 6DOF Cartesian coordinate haptic interface , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  John Kenneth Salisbury,et al.  The Intuitive/sup TM/ telesurgery system: overview and application , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[7]  Adnan Akay,et al.  Relation of dry-friction to surface roughness , 1997 .

[8]  Evangelos Papadopoulos,et al.  Design of a 5-dof haptic simulator for urological operations , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[9]  John M. Hollerbach,et al.  An investigation of the transmission system of a tendon driven robot hand , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[10]  J. S. Hunter,et al.  Statistics for Experimenters: An Introduction to Design, Data Analysis, and Model Building. , 1979 .

[11]  G. Cobb.  Introduction to Design and Analysis of Experiments , 1997 .

[12]  Gianluca Palli,et al.  Development of UB Hand 3: Early Results , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[13]  Antonio Frisoli,et al.  A two degrees-of-freedom planar haptic interface with high kinematic isotropy , 1999, 8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483).