SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-Time Hysteresis Compensation Control Algorithm

Abstract

Background: Cable-driven continuum manipulators (CDCMs) enable scar-free procedures but face limitations in workspace and control accuracy due to hysteresis. Methods: We introduce an extensible CDCM with a semi-active mechanism (SAM) and develop a real-time hysteresis compensation control algorithm using a temporal convolution network (TCN) based on data collected from fiducial markers and RGBD sensing. Results: Performance validation shows the proposed controller significantly reduces hysteresis by up to 69.5% in random trajectory tracking test and approximately 26% in the box pointing task. Conclusion: The SAM mechanism enables access to various lesions without damaging surrounding tissues. The proposed controller with TCN-based compensation effectively predicts hysteresis behaviour and minimises position and joint angle errors in real-time, which has the potential to enhance surgical task performance. © 2024 John Wiley & Sons Ltd.