Model-Based Tracking Control of a Soft Growing Robot for Colonoscopy

被引：0

作者：

Borvorntanajanya, Korn ^{[1
]}

Treratanakulchai, Shen ^{[2
]}

Baena, Ferdinando Rodriguez y ^{[1
]}

Franco, Enrico ^{[1
]}

机构：

[1] Imperial Coll London, Hamlyn Ctr Robot Surg, London SW7 2AZ, England

[2] Mahidol Univ, Fac Engn, BART LAB, Nakhon Pathom 10500, Thailand

来源：

IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS | 2024年 / 6卷 / 04期

基金：

英国工程与自然科学研究理事会;

关键词：

Robots; Servomotors; Prototypes; Pneumatic systems; Medical robotics; Biomimetics; Torque; Colonoscopy; Navigation; Isothermal processes; Soft growing robots; model-based control; minimally invasive surgery; CANCER; MECHANISM;

D O I：

10.1109/TMRB.2024.3474059

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

This paper investigates the model based tracking control of soft growing robots with pneumatic actuation that extend according to the principle known as eversion. A model of the system which accounts for the pressure dynamics is presented. A new control law is constructed with a high-order sliding-mode approach and a nonlinear observer is employed to compensate for the effect of external forces. Numerical simulations and experiments demonstrate the effectiveness of the proposed controller compared to our former energy-shaping implementation and to a baseline sliding-mode controller. Experiments with a training phantom demonstrate that the new controller resulted in a reduced peak pressure, approximately 14.8% lower, a reduced tracking error, approximately 4.9% lower RMSE, and a reduced consumption of compressed air, approximately 3.9% lower, compared to a baseline sliding-mode algorithm.

引用

页码：1354 / 1362

页数：9