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Informatics in Control, Automation and Robotics pp 79–97Cite as

Adaptive Tracking Approach of Flexible Cable Conduit-Actuated NOTES Systems for Early Gastric Cancer Treatments

Part of the Lecture Notes in Electrical Engineering book series (LNEE,volume 370)

Abstract

To control robotic arms mounted on a flexible endoscope in Natural Orifice Transluminal Endoscopic Surgery (NOTES) procedure, Cable-Conduit Mechanisms (CCMs) are often used. Although the CCMs offer simplicity, safety, and easy transmission, nonlinear friction and backlash-like hysteresis between the cable and the conduit introduce some difficulties in the motion control of the NOTES system. It is challenging to achieve the precise position of robotic arms and force feedback information when the slave manipulator is inside the humans body. This paper presents the dynamic transmission characteristics of CCMs and control strategies to compensate for achieving precise position tracking of the robotic arms. The cable-conduit tension and position transmission are analysed and discussed for both sliding and presliding regimes. Unlike current approaches in the literature, position transmission of the CCM is modelled by an approximation of backlash-like hysteresis profile for both loading and unloading phases. In addition, nonlinear adaptive control algorithm is also used to enhance the tracking performance for a pair of CCMs regardless of the change of cable-conduit configuration during the operation. The backlash-like hysteresis parameters are online estimated under an assumption of presence of output feedback and unknown bound of nonlinear parameters. To validate the proposed approach, a prototype of single-DOF-flexible robotic system, which consists of a motion control device, a telesurgical workstation, and a slave manipulator, is also developed. The proposed compensation scheme is experimentally validated using the designed system. The results show that the proposed control scheme improves the tracking performances significantly regardless of the change of endoscope configuration.

Keywords

  • Surgical robot
  • Cable-conduit mechanism
  • Nonlinear adaptive control
  • Flexible endoscope
  • Dynamic friction
  • Backlash
  • Hysteresis

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  • DOI: 10.1007/978-3-319-26453-0_5
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Author information

Authors and Affiliations

  1. Robotic Research Centre, Nanyang Technological University, School of Mechanical and Aerospace Engineering, 50 Nanyang Avenue, Singapore, 639798, Singapore

    Thanh Nho Do, Tegoeh Tjahjowidodo & Soo Jay Phee

  2. Newcastle University (Singapore Campus), UK, 180 Ang Mo Kio, Avenue 8, Block P, Room 220, Singapore, 569830, Singapore

    Michael Wai Shing Lau

Authors
  1. Thanh Nho Do
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  2. Tegoeh Tjahjowidodo
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  3. Michael Wai Shing Lau
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  4. Soo Jay Phee
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Corresponding author

Correspondence to Tegoeh Tjahjowidodo .

Editor information

Editors and Affiliations

  1. Polytechnic Institute of Setúbal INSTICC, Setúbal, Portugal

    Joaquim Filipe

  2. Ford Research & Adv. Engineering, Dearborn, Michigan, USA

    Oleg Gusikhin

  3. Univ Paris-Est Creteil (UPEC), Créteil, France

    Kurosh Madani

  4. Carleton University, Mechanical and Aerospace Engineering, Ottawa, Ontario, Canada

    Jurek Sasiadek

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Do, T.N., Tjahjowidodo, T., Lau, M.W.S., Phee, S.J. (2016). Adaptive Tracking Approach of Flexible Cable Conduit-Actuated NOTES Systems for Early Gastric Cancer Treatments. In: Filipe, J., Gusikhin, O., Madani, K., Sasiadek, J. (eds) Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering, vol 370. Springer, Cham. https://doi.org/10.1007/978-3-319-26453-0_5

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  • DOI: https://doi.org/10.1007/978-3-319-26453-0_5

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