A cable-pulley system modeling based position compensation control for a laparoscope surgical robot

Abstract Due to nonlinear friction and backlash characteristics of cable-driven mechanism (CDM) in laparoscope surgical robot end-effector, it is difficult to predict force and control position precisely during the surgical procedure. Current studies of transmission characteristics of CDM mainly focus on the tendon-sheath system (TSS) with the classical Capstan equation which neglects the effect of bending rigidity of the cable. However, analysis for transmission characteristics of a cable-pulley system (CPS) is rare. This paper presents a tension and displacement transmission model of a CPS in the end-effector of laparoscope surgical robot. The model considers the bending rigidity of the cable and spatial location of the pulleys. Experiments validate the proposed model. Based on the model, a position compensation algorithm of feedforward control is presented to reduce the tracking position errors. The experimental validations show substantial improvements on performance of position tracking errors for the use of the proposed algorithm.

[1]  Tegoeh Tjahjowidodo,et al.  Nonlinear Modeling and Parameter Identification of Dynamic Friction Model in Tendon Sheath for Flexible Endoscopic Systems , 2013, ICINCO.

[2]  Stephen E. Bechtel,et al.  The stretching and slipping of belts and fibers on pulleys , 2000 .

[3]  Tegoeh Tjahjowidodo,et al.  Hysteresis modeling and position control of tendon-sheath mechanism in flexible endoscopic systems , 2014 .

[4]  Hua Liu,et al.  Transmission capability of precise cable drive including bending rigidity , 2015 .

[5]  R. W. Tock,et al.  Experimental verification of failure of Amontons' law in polymeric textiles , 2004 .

[6]  Lin Chen,et al.  Transmission Model and Compensation Control of Double-Tendon-Sheath Actuation System , 2015, IEEE Transactions on Industrial Electronics.

[7]  S. J. Phee,et al.  Feasibility of full-thickness gastric resection using master and slave transluminal endoscopic robot and closure by overstitch: a preclinical study , 2013, Surgical Endoscopy.

[8]  Soo Jay Phee,et al.  Modeling tendon-sheath mechanism with flexible configurations for robot control , 2013, Robotica.

[9]  Chen Lin,et al.  Tendon-sheath actuated robots and transmission system , 2009, 2009 International Conference on Mechatronics and Automation.

[10]  Makoto Kaneko,et al.  Input-dependent stability of joint torque control of tendon-driven robot hands , 1992, IEEE Trans. Ind. Electron..

[11]  Gang Wang,et al.  An efficient model for dynamic analysis and simulation of cable-pulley systems with time-varying cable lengths , 2017 .

[12]  Howie Choset,et al.  Demonstration of transoral surgery in cadaveric specimens with the medrobotics flex system , 2013, The Laryngoscope.

[13]  Tegoeh Tjahjowidodo,et al.  A new approach of friction model for tendon-sheath actuated surgical systems: Nonlinear modelling and parameter identification , 2015 .

[14]  M. Wei,et al.  An Improved Capstan Equation for Nonflexible Fibers and Yarns , 1998 .

[15]  Rama K. Yedavalli,et al.  Dynamics of belt-pulley-shaft systems , 2016 .

[16]  Bin Yao,et al.  Modeling of Transmission Characteristics Across a Cable-Conduit System , 2010, IEEE Transactions on Robotics.

[17]  Howie Choset,et al.  A transoral highly flexible robot , 2012, The Laryngoscope.

[18]  T. Kang,et al.  Generalized capstan problem: Bending rigidity, nonlinear friction, and extensibility effect , 2008 .

[19]  Tegoeh Tjahjowidodo,et al.  Real-time enhancement of tracking performances for cable-conduit mechanisms-driven flexible robots , 2016 .

[20]  T. Kang,et al.  Effect of Bending Rigidity on the Capstan Equation , 2004 .

[21]  Soo Jay Phee,et al.  Elongation Modeling and Compensation for the Flexible Tendon--Sheath System , 2014, IEEE/ASME Transactions on Mechatronics.

[22]  A. S. Lodge,et al.  Friction of an Elastic Solid , 1954 .

[23]  Hyungpil Moon,et al.  Preliminary design of multi-axial contact force sensor for minimally invasive robotic surgery grasper , 2013, 2013 IEEE International Conference on Robotics and Automation.

[24]  T. Kang,et al.  Tension transmission via an elastic rod gripped by two circular-edged plates , 2007 .

[25]  S. C. Low,et al.  Robotic system for no‐scar gastrointestinal surgery , 2008, The international journal of medical robotics + computer assisted surgery : MRCAS.

[26]  Jung-Whan Park,et al.  Bending Rigidity of Yarns , 2006 .

[27]  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).

[28]  Daniel T Friedrich,et al.  First use of a computer‐assisted operator‐controlled flexible endoscope for transoral surgery , 2015, The Laryngoscope.

[29]  Gianluca Palli,et al.  Modeling, Identification, and Control of Tendon-Based Actuation Systems , 2012, IEEE Transactions on Robotics.

[30]  Soo Jay Phee,et al.  Modeling and motion compensation of a bidirectional tendon-sheath actuated system for robotic endoscopic surgery , 2015, Comput. Methods Programs Biomed..

[31]  H. G. Howell.  35—The Friction of a Fibre Round a Cylinder and its Dependence upon Cylinder Radius , 1954 .

[32]  K. Jacob,et al.  Modeling of a two-stage draw process , 2001 .

[33]  Xingsong Wang,et al.  Inverse Transmission Model and Compensation Control of a Single-Tendon–Sheath Actuator , 2014, IEEE Transactions on Industrial Electronics.

[34]  Tegoeh Tjahjowidodo,et al.  Dynamic Friction-Based Force Feedback for Tendon- Sheath Mechanism in NOTES System , 2014 .

[35]  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..

[36]  Warren S. Grundfest,et al.  A Multielement Tactile Feedback System for Robot-Assisted Minimally Invasive Surgery , 2009, IEEE Transactions on Haptics.

[37]  Paolo Dario,et al.  Tendon sheath analysis for estimation of distal end force and elongation , 2009, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[38]  Liping Wang,et al.  An improved Capstan equation including power-law friction and bending rigidity for high performance yarn , 2015 .

[39]  Pietro Valdastri,et al.  Tendon sheath analysis for estimation of distal end force and elongation , 2009, AIM 2009.

[40]  Man Bok Hong,et al.  Design and Evaluation of 2-DOF Compliant Forceps With Force-Sensing Capability for Minimally Invasive Robot Surgery , 2012, IEEE Transactions on Robotics.

[41]  Jae Ho Jung,et al.  Capstan equation including bending rigidity and non-linear frictional behavior , 2008 .

[42]  Mohammad A. Qasaimeh,et al.  PVDF-Based Microfabricated Tactile Sensor for Minimally Invasive Surgery , 2009, Journal of Microelectromechanical Systems.

[43]  Kazuo Tanie,et al.  A new consideration on tendon-tension control system of robot hands , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[44]  H. G. Howell.  24—THE GENERAL CASE OF FRICTION OF A STRING ROUND A CYLINDER , 1953 .

[45]  Wang Xingsong,et al.  The Design of a Tendon-Sheath-Driven Robot , 2008 .

[46]  Tegoeh Tjahjowidodo,et al.  An investigation of friction-based tendon sheath model appropriate for control purposes , 2014 .

[47]  Min Cheol Lee,et al.  Friction analysis according to pretension of laparoscopy surgical robot instrument , 2011 .

[48]  William J. Peine,et al.  Design of an endoluminal NOTES robotic system , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[49]  H. Stassen,et al.  Observation in laparoscopic surgery: overview of impeding effects and supporting aids. , 1999, Journal of laparoendoscopic & advanced surgical techniques. Part A.

[50]  M. Kaneko,et al.  Basic considerations on transmission characteristics for tendon drive robots , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[51]  I. Maniu,et al.  Design and control solutions for haptic elbow exoskeleton module used in space telerobotics , 2017 .

[52]  Min Cheol Lee,et al.  Dynamic modeling of coupled tendon-driven system for surgical robot instrument , 2014 .

[53]  E. Ilhan Konukseven,et al.  Theoretical and experimental determination of capstan drive slip error , 2010 .