Joint Rotation Angle Sensing of Flexible Endoscopic Surgical Robots
Wenjie Lai,Lin Cao,Phuoc Thien Phan,I-Wen Wu,Swee Chuan Tjin,Soo Jay Phee,Wenjie Lai,Lin Cao,Phuoc Thien Phan,I-Wen Wu,Swee Chuan Tjin,Soo Jay Phee
Accurate motion control of surgical robots is critical for the efficiency and safety of both state-of-the-art teleoperated robotic surgery and the ultimate autonomous robotic surgery. However, fine motion control for a flexible endoscopic surgical robot is highly challenging because of the shape-dependent and speed-dependent motion hysteresis of tendon-sheath mechanisms (TSMs) in the long, tortuou...
