A hybrid learning-based hysteresis compensation strategy for surgical robots.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date:

Abstract

BACKGROUND: The hysteretic forces arising from the electric cables that externally run along the robotic joints are the main disturbance to the precise parameter estimation of gravity compensation model, for the Master Tool Manipulator (MTM) of the da Vinci Research Kit (dVRK). Because such nonlinear disturbance forces and the gravitational forces are often hybrid and in the same magnitude.

Authors

  • Qian Gao
    Department of Obstetrics, The Third Affiliated Hospital of Sun Yat-sen University, Guangzhou, 510630, China.
  • Ning Tan
    Department of Cardiology, Guangdong Cardiovascular Institute, Guangdong Provincial Key Laboratory of Coronary Heart Disease Prevention, Guangdong General Hospital, Guangdong Academic of Medical Sciences, Guangzhou, China.
  • Zhenglong Sun
    SUTD-MIT International Design Center, Singapore University of Technology and Design, Singapore. Electronic address: sunkurt@gmail.com.