Distal-end force prediction of tendon-sheath mechanisms for flexible endoscopic surgical robots using deep learning

• Main Authors: Li, Xiaoguo, Cao, Lin, Tiong, Anthony Meng Huat, Phan, Phuoc Thien, Phee, Soo Jay
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Mechanical engineering::Robots; Haptic Feedback; Surgical Robot
• Online Access: https://hdl.handle.net/10356/137858
• Institution: Nanyang Technological University

Accurate haptic feedback is highly challenging for flexible endoscopic surgical robots due to space limitation for sensors on small end-effectors and critical force hysteresis of their tendon-sheath mechanisms (TSMs). This paper proposes a deep learning approach to predicting the distal force of TSM...