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

• المؤلفون الرئيسيون: Li, Xiaoguo, Cao, Lin, Tiong, Anthony Meng Huat, Phan, Phuoc Thien, Phee, Soo Jay
• مؤلفون آخرون: School of Mechanical and Aerospace Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2020
• الموضوعات: Engineering::Mechanical engineering::Robots; Haptic Feedback; Surgical Robot
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/137858
• المؤسسة: 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...