Utilizing Elasticity of Cable Driven Surgical Robot to Estimate Cable Tension and External Force

Haghighipanah, Mohammad and Miyasaka, Muneaki and Hannaford, B. (2017) Utilizing Elasticity of Cable Driven Surgical Robot to Estimate Cable Tension and External Force. IEEE Robotics and Automation Letters. (In Press)

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Abstract

Abstract—Cable driven robots enable compact design by allowing actuators to be mounted away from joints. This kind of actuation is desired in surgical robots. The cables in these robots must remain under tension at all times in order to have optimum performance. Thus, the knowledge of initial value of cable tension is significant. Moreover, in surgery, haptic feedback is vital for diagnosis of healthy tissue and to prevent damaging tissue with excessive force. In this work, cable pre-tension was estimated indirectly by estimating stiffness parameter of cables. Then, external forces acting on the robot were estimated in all four quadrants by using cable stretch and dynamic based methods utilizing system dynamics and Unscented Kalman Filter (UKF). We assessed the effectiveness of these methods on the third link of Raven-II surgical robot platform. From experiments with the tension estimation technique, it can be determined if the cable pre-tension is in the safe range. Also, both the cable stretch and UKF based methods can be used to estimate external forces on all quadrants.

Item Type: Article
Subjects: C Surgical Robots > C Surgical Robots(General)
C Surgical Robots > CA Robotic Control
Depositing User: Blake Hannaford
Date Deposited: 12 May 2017 13:16
Last Modified: 12 May 2017 13:16
URI: http://brl.ee.washington.edu/eprints/id/eprint/296

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