Task-Based LSTM Kinematic Modeling for a Tendon-Driven Flexible Surgical Robot

被引：16

作者：

Bai, Weibang ^{[1
,2
]}

Cursi, Francesco ^{[1
]}

Guo, Xiaotong ^{[1
]}

Huang, Baoru ^{[1
]}

Lo, Benny ^{[1
]}

Yang, Guang-Zhong ^{[1
,3
]}

Yeatman, Eric M. ^{[4
]}

机构：

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

[2] Imperial Coll London, Dept Comp, London SW7 2AZ, England

[3] Shanghai Jiao Tong Univ, Inst Med Robot, Shanghai 200240, Peoples R China

[4] Imperial Coll London, Dept Elect & Elect Engn, London SW7 2AZ, England

来源：

IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS | 2022年 / 4卷 / 02期

基金：

英国工程与自然科学研究理事会;

关键词：

LSTM (long short-term memory) network; tendon-driven; surgical robot; learning modeling;

D O I：

10.1109/TMRB.2021.3127366

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

Tendon-driven flexible surgical robots are normally suffering from the inaccurate modeling and imprecise motion control problems due to the nonlinearities of tendon transmission. Learning-based approaches are experimental data-driven with uncertainties modeled empirically, which can be adopted to improve the inevitable issues. This work proposes a LSTM-based kinematic modeling approach with task-based data for a flexible tendon-driven surgical robot to improve the control accuracy. Real experiments demonstrated the effectiveness and superiority of the proposed learned model when completing path following tasks, especially compared to the traditional modeling.

引用

页码：339 / 342

页数：4

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