SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-time Hysteresis Compensation Control Algorithm

TL;DR

This paper presents a novel semi-active mechanism and a real-time hysteresis compensation algorithm for cable-driven continuum manipulators, significantly improving control accuracy and expanding surgical access.

Contribution

Introduction of an extensible CDCM with a Semi-active Mechanism and a TCN-based hysteresis compensation algorithm for enhanced control and workspace.

Findings

Hysteresis reduced by up to 69.5% in trajectory tracking

Approximately 26% improvement in box pointing task accuracy

Effective real-time prediction and minimization of errors

Abstract

Cable-Driven Continuum Manipulators (CDCMs) enable scar-free procedures but face limitations in workspace and control accuracy due to hysteresis. We introduce an extensible CDCM with a Semi-active Mechanism (SAM) and develop a real-time hysteresis compensation control algorithm using a Temporal Convolutional Network (TCN) based on data collected from fiducial markers and RGBD sensing. Performance validation shows the proposed controller significantly reduces hysteresis by up to 69.5% in random trajectory tracking test and approximately 26% in the box pointing task. The SAM mechanism enables access to various lesions without damaging surrounding tissues. The proposed controller with TCN-based compensation effectively predicts hysteresis behavior and minimizes position and joint angle errors in real-time, which has the potential to enhance surgical task performance.