Separable Tendon-Driven Robotic Manipulator With a Long, Flexible, Passive Proximal Section

Abstract This work tackles practical issues that arise when using a tendon-driven robotic manipulator (TDRM) with long, flexible, passive proximal section in medical applications. Tendon-driven devices are preferred medicine for their improved outcomes via minimally invasive procedures, but TDRMs come unique challenges such as sterilization and reuse, simultaneous control of tendons, hysteresis the tendon-sheath mechanism, unmodeled effects shape. A separable TDRM overcomes difficulties actuation is introduced, which body containing electronics reusable remainder disposable. An open-loop redundant controller resolves redundancy kinematics developed. Simple linear compensation re-tension based on physical properties device proposed. The methods evaluated testbed straight section, curved at various static angles, dynamically changes overall, distal tip error was reduced.