SAM: Semi‐Active Mechanism for Extensible Continuum Manipulator and Real‐Time Hysteresis Compensation Control Algorithm
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.
Authors
- S. C. Jang (ORCID: https://orcid.org/0009-0005-0652-1477)
- Jeonghyeon Yoon (ORCID: https://orcid.org/0009-0002-4852-0657)
- Hyojae Park (ORCID: https://orcid.org/0009-0007-6504-1179)
- Minho Hwang (ORCID: https://orcid.org/0000-0002-9190-7876)
- Myeongbo Park
- Junhyun Park (ORCID: https://orcid.org/0009-0007-5480-0029)
Institutions
- Daegu Gyeongbuk Institute of Science and Technology (KR)
Publication Details
- Journal
- International Journal of Medical Robotics and Computer Assisted Surgery
- Published
- 2024-12-01
- DOI
- https://doi.org/10.1002/rcs.70014
- Citations
- 3
- Primary Topic
- Soft Robotics and Applications
- Type
- article
- Field-Weighted Citation Impact
- 0.55