Motion Compensation of Tendon-Sheath Driven Continuum Manipulator for Endoscopic Surgery

Motion Compensation of Tendon-Sheath Driven Continuum Manipulator for Endoscopic Surgery

Tendon-sheath actuation mechanism is widely used in surgical robot, especially in endoscopic surgery, due to its capable of providing remote force and action transmission through long and flexible channel. However, hysteresis, backlash, nonlinear friction are the drawbacks of this mechanism. Our sur...

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Bibliographic Details
Main Authors: Lau K. C., Leung Esther Y. Y., Poon Carmen C. Y., Chiu Philip W. Y., Lau James Y. W., Yam Y.
Format: Article
Language:English
Published: EDP Sciences 2015-01-01
Series:MATEC Web of Conferences
Online Access:http://dx.doi.org/10.1051/matecconf/20153204007

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