11 accepted papers
One issue of robotic microsurgery is that compared to manual surgery, the operation time tends to be longer due to high motion scaling. To address this issue, we developed a new controller that can provide the accuracy required for microsurgery without a high scaling factor by utilizing fingertip an…
When performing some surgical tasks inside colon with NOTES technology, colon tissue could block the task space and occlude the endoscopic vision. In order to solve this problem, we developed a pneumatically driven deployable and undeployable structure which can distend collapsing tissue and can be…
Surgical robot research is driven by the desire of improving surgical outcomes. This paper proposed a Recurrent Neural Network based controller to address two problems: 1) improving control precision, 2) increasing adaptiveness for robot motion (explained in Section I). RNN was adopted in this work…
Beside the output-input hysteresis, the longitudinally loaded cables of medical robotics such as RAVEN II exhibit asymmetric saturated strain-load hysteresis loops. This study investigates modeling the hysteresis nonlinearities of these cables using a stop-operator based Prandtl-Ishlinskii (SPI) mod…
Minimally Invasive Surgery (MIS) can reduce iatrogenic injury and decrease the possibility of surgical complications. This paper presents a novel flexible and bendable endoscopic device, “Roboscope”, which delivers two instruments, two miniature scanning fiber endoscopes, and a suction/irrigation po…
Cable-driven robots enable compact design by allowing actuators to be mounted away from joints. This kind of actuation is desired in surgical robots. The cables in these robots must remain under tension at all times in order to have optimum performance. Thus, the knowledge of initial value of cable
Haptic feedback plays a key role in surgeries, but it is still a missing component in robotic Minimally Invasive Surgeries. This paper proposes a dynamic model-based sensorless grip force estimation method to address the haptic perception problem for commonly used elongated cable-driven surgical ins
In this paper, we propose model of longitudinally loaded cable based on the Bouc-Wen hysteresis model and within the framework of the Duhem operator. By optimizing the 9 hysteresis model parameters with a genetic algorithm, the proposed model is shown to be capable of representing quasi-static respo
Cable driven manipulators are popular in surgical robots due to compact design, low inertia, and remote actuation. In these manipulators, encoders are usually mounted on the motor, and joint angles are estimated based on transmission kinematics. However, due to non-linear properties of cables such a
Cable driven power transmission is popular in many manipulator applications including medical arms. In spite of advantages obtained by removing motors from the mechanism, cable transmission introduces higher non-linearity and more uncertainties such as cable stretch and cable coupling. In order to i…
In this paper we present experimentally obtained cable-pulley Coulomb and viscous friction for cable-driven surgical robotic systems including the RAVEN II surgical robotic research platform. In the study of controlling cable-driven systems a simple mathematical model which does not capture physical…