Hostname: page-component-7dd5485656-zklqj Total loading time: 0 Render date: 2025-10-31T00:36:42.107Z Has data issue: false hasContentIssue false
  • English
  • Français

Modeling tendon-sheath mechanism with flexible configurations for robot control

Published online by Cambridge University Press:  14 May 2013

Zheng Wang ,
Zhenglong Sun  and
Soo Jay Phee
Zheng Wang
Affiliation:
Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, MA, USA
Zhenglong Sun*
Affiliation:
School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
Soo Jay Phee
Affiliation:
School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
*
*Corresponding author. E-mail: sunz0006@e.ntu.edu.sg
Get access Rights & Permissions [Opens in a new window]

Summary

Surgical and search/rescue robots often work in environments with very strict spatial constraints. The tendon-sheath mechanism is a promising candidate for driving such systems, allowing power sources and actuation motors placed outside to transmit force and energy to the robot at the distal end through the constrained environment. Having both compactness and high force capability makes it very attractive for manipulation devices. On the other hand, the friction attenuation of tendon tension is nonlinear and configuration-dependent due to tendon/sheath interactions throughout the transmission path. This is a major obstacle for the tendon-sheath mechanism to be widely adopted. Here, we focus on the friction analysis for flexible and time-varying tendon-sheath configurations: the most challenging but yet commonly encountered case for real-world applications. Existing results on fixed-path configurations are reviewed, revisited, and extended to flexible and time-varying cases. The effect of tendon length to friction attenuation is modeled. While focusing on tension transmission, tendon elongation is also discussed with the length effect applied. In the end, two-dimensional results are extended to three-dimensional tendon-sheath configurations. All propositions and theorems are validated on a dedicated experimental platform.

Keywords

Control of robotic systemsForce controlSurgical robotsHaptic interfacesTeleoperation

Information

Type
Articles
Information
Robotica , Volume 31 , Issue 7 , October 2013 , pp. 1131 - 1142
Copyright
Copyright © Cambridge University Press 2013 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Wolf, A., Brown, H. B., Casciola, R., Costa, A., Schwerin, M., Shamas, E. and Choset, H., “A Mobile Hyper Redundant Mechanism for Search and Rescue Tasks,” International Conference on Intelligent Robots and Systems, Las Vegas, USA (2003) pp. 2889–2895.Google Scholar
2.Ahrary, A., Nassiraei, A. A. F. and Ishikawa, M., “A study of an autonomous mobile robot for a sewer inspection system,” Artif. Life Robot. 11 (1), 23–27 (2007).CrossRefGoogle Scholar
3.Phee, S. J., Kencana, A. P., Huynh, V. A., Sun, Z. L., Low, S. C., Yang, K., Lomanto, D. and Ho, K. Y., “Design of a master and slave transluminal endoscopic robot for natural orifice transluminal endoscopic surgery,” Proc. Inst. Mech. Eng. 224 (7), 1495–1503 (2010).Google Scholar
4.Harada, K., Oetomo, D., Susilo, E., Menciassi, A., Daney, D., Merlet, J.-P. and Dario, P., “A reconfigurable modular robotic endoluminal surgical system: vision and preliminary results,” Robotica 28 (2), 171–183 (2010).CrossRefGoogle Scholar
5.Rasouli, M. and Phee, S. J., “Energy sources and their development for application in medical devices,” Expert Rev. Med. Devices 7 (5), 693–709 (2010).CrossRefGoogle ScholarPubMed
6.Low, K. H., Mechanics of Mechanisms: Basic and Systematic Approaches, 3rd ed. (Prentice Hall, Singapore, 2006).Google Scholar
7.Webster, R. J. III, Okamura, A. M. and Cowan, N. J., “Toward Active Cannulas: Miniature Snake-Like Surgical Robots,” International Conference on Intelligent Robots and Systems, Beijing, China (2006) pp. 2857–2863.Google Scholar
8.Simaan, N., Xu, K., Wei, W., Kapoor, A., Kazanzides, P., Flint, P. and Taylor, R., “Design and integration of a telerobotic system for minimally invasive surgery of the throat,” Int. J. Robot. Res. 28 (9), 1134–1153 (2009).CrossRefGoogle ScholarPubMed
9.Webster, R. J. III and Jones, B. A., “Design and kinematic modeling of constant curvature continuum robots: A review,” Int. J. Robot. Res. 29 (13), 1661–1683 (2010).CrossRefGoogle Scholar
10.Sun, Z., Ang, R. Y., Lim, E. W., Wang, Z., Ho, K. Y. and Phee, S. J., “Enhancement of a master-slave robotic system for natural orifice transluminal endoscopic surgery,” Ann. Acad. Med. Singap. 40 (5), 223–230 (2011).CrossRefGoogle ScholarPubMed
11.Lee, J. J. and Tsai, L. W., “The structural synthesis of tendon-driven manipulators having a pseudotriangular structure matrix,” Int. J. Robot. Res. 10 (3), 255–262 (1991).CrossRefGoogle Scholar
12.Kobayashi, H., Hyodo, K. and Ogane, D., “On tendon-driven robotic mechanisms with redundant tendons,” Int. J. Robot. Res. 17 (5), 561–571 (1998).CrossRefGoogle Scholar
13.Kaneko, M., Yamashita, T. and Tanie, K., “Basic Considerations on Transmission Characteristics for Tendon Driven Robots,” International Conference on Advanced Robotics, Pisa, Italy (1991) pp. 827–832.Google Scholar
14.Palli, G. and Melchiorri, C., “Model and Control of Tendon-Sheath Transmission Systems,” International Conference on Robotics and Automation, Orlando, USA (2006) pp. 988–993.Google Scholar
15.Tian, F. and Wang, X., “The Design of a Tendon-Sheath-Driven Robot,” International Conference on Mechatronics and Machine Vision in Practice, Auckland, New Zealand (2008) pp. 280–284.Google Scholar
16.Chen, L., Wang, X. and Tian, F., “Tendon-Sheath Actuated Robots and Transmission System,” International Conference on Mechatronics and Automation, Changchun, China (2009) pp. 3173–3178.Google Scholar
17.Agrawal, V., Peine, W. J. and Yao, B., “Modeling of transmission characteristics across a cable-conduit system,” IEEE Trans. Robot. 26 (5), 914–924 (2010).CrossRefGoogle Scholar
18.Wang, Z., Hoelldampf, J. and Buss, M., “Design and Performance of a Haptic Data Acquisition Glove,” Proceedings of the 10th Annual International Workshop on Presence, Barcelona, Spain (2007) pp. 349–357.Google Scholar
19.Wang, Z., Peer, A. and Buss, M., “Fast Online Impedance Estimation for Robot Control,” IEEE International Conference on Mechatronics, Malaga, Spain (2009) art. 4957217.Google Scholar
20.Wang, Z., High-Fidelity Haptics in Multimodal Human-Robot Interaction, 1st ed. (VDI-Verl, Germany 2010).Google Scholar
21.Low, S. C., Phee, S. J., Valdastri, P., Menciassi, A. and Dario, P., “Tendon Sheath Analysis for Estimation of Distal End Force and Elongation,” International Conference on Advanced Intelligent Mechatronics, Singapore (2009) pp. 332–337.Google Scholar
22.Phee, S. J., Low, S. C., Dario, P. and Menciassi, A., “Tendon Sheath Analysis for Estimation of Distal End Force and Elongation for Sensorless Distal End” Robotica 28 (7), 1073–1082 (2010).CrossRefGoogle Scholar
23.Pons, J. L., Ceres, R. and Pfeiffer, F., “Multifingered dextrous robotics hand design and control: A review,” Robotica 17 (6), 661–674 (1999).CrossRefGoogle Scholar
24.Wang, Z., Sun, Z. and Phee, S. J., “Haptic feedback and control of a flexible surgical endoscopic robot,” Computer Methods and Programs in Biomedicine, doi:10.1016/j.cmpb.2013.01.018 (Apr. 2, 2013).CrossRefGoogle ScholarPubMed
25.Phee, S. J., Sun, Z., Wang, Z., Wong, J. Y. Y. and Ho, K. Y., “The future of transluminal surgery,” Expert Rev. Med. Devices 8 (6), 669–671 (2011).CrossRefGoogle ScholarPubMed
26.Wang, Z., Phee, S. J., Lomanto, D., Goel, R., Rebala, P., Sun, Z. L., Trasti, S., Reddy, N., Wong, J. Y. Y. and Ho, K. Y., “Endoscopic submucosal dissection of gastric lesions by using a master and slave transluminal endoscopic robot: An animal survival study,” Endoscopy 44 (7), 690–694 (2012).Google ScholarPubMed
27.Phee, S. J., Reddy, N., Chiu, P. W. Y., Pradeep, R., Rao, G. V., Wang, Z., Sun, Z. L., Wong, J. Y. Y. and Ho, K. Y., “Robot-assisted endoscopic submucosal dissection is effective in treating patients with early-stage gastric neoplasia,” Clin. Gastroenterol. Hepatol. 10 (10), 1117–1121 (2012).CrossRefGoogle ScholarPubMed