Tendon-driven continuum robot for neuroendoscopy: validation of extended kinematic mapping for hysteresis operation.
Journal:
International journal of computer assisted radiology and surgery
Published Date:
Oct 17, 2015
Abstract
PURPOSE: The hysteresis operation is an outstanding issue in tendon-driven actuation--which is used in robot-assisted surgery--as it is incompatible with kinematic mapping for control and trajectory planning. Here, a new tendon-driven continuum robot, designed to fit existing neuroendoscopes, is presented with kinematic mapping for hysteresis operation.