Real-time Data Driven Precision Estimator for RAVEN-II Surgical Robot End Effector Position
Haonan Peng,Xingjian Yang,Yun-Hsuan Su,Blake Hannaford,Haonan Peng,Xingjian Yang,Yun-Hsuan Su,Blake Hannaford
Surgical robots have been introduced to operating rooms over the past few decades due to their high sensitivity, small size, and remote controllability. The cable-driven nature of many surgical robots allows the systems to be dexterous and lightweight, with diameters as low as 5mm. However, due to the slack and stretch of the cables and the backlash of the gears, inevitable uncertainties are broug...
