Deep learning for haptic feedback of flexible endoscopic robot without prior knowledge on sheath configuration

• Main Authors: Li, Xiaoguo, Tiong, Anthony Meng Huat, Cao, Lin, Lai, Wenjie, 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; Flexible Endoscopic Surgical Robots; Tendon-sheath Mechanisms
• Online Access: https://hdl.handle.net/10356/137860
• Institution: Nanyang Technological University

Distal-end force information is usually missing in flexible endoscopic robots due to the difficulties of mounting miniature force sensors on their end-effectors. This hurdle creates big challenges in providing a sense of touch for the operating surgeons. Many existing studies have developed models t...