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Data-driven modeling the nonlinear backlash of steerable endoscope under a large deflection cannulation in ERCP surgery
Jiang W(江维)1,2,3; Yu T(于涛)1,4; He X(何啸)1,4; Yang YM(杨永明)1,4; Wang ZD(王志东)5; Liu H(刘浩)1,4
Department机器人学研究室
Conference Name2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
Conference DateJuly 15-19, 2021
Conference PlaceXining, China
Author of SourceIEEE Robotics and Automation Society (RA) ; Shanghai Jiao Tong University ; Shenzhen Institute of Advanced Technology (SIAT)
Source Publication2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
PublisherIEEE
Publication PlaceNew York
2021
Pages39-44
Indexed ByEI
EI Accession number20213910935989
Contribution Rank1
ISBN978-1-6654-3678-6
KeywordBacklash modeling steerable endoscope large deflection cannulation LSTM
AbstractUnexpected nonlinear backlash performances of two degrees of freedom (DoFs) tendon sheath mechanism (TSM) have serious impacts on the precise cannulation in ERCP (Endoscopic Retrograde Cholangio-Pancreatography) surgery. We proposed to model backlash performance of two DoFs steerable endoscope by using LSTM (Long Short-Term Memory) network. Trajectory following and orientation tasks are performed after the backlash model has been considered into the control strategy. Experimental results show that the LSTM backlash model can accurately describe the non-linearities of backlash, and significantly reduce the positioning and orientation deviation of the steerable endoscope under large deflection. The proposed backlash modeling method can be extended to be applied to bronchial, urethral and other natural orifice interventional tasks that work under a large deflection.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/29681
Collection机器人学研究室
Corresponding AuthorLiu H(刘浩)
Affiliation1.Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, State Key Laboratory of Robotics, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
3.Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, Shenyang 110016, China
4.Key Laboratory of Minimally Invasive Surgical, Liaoning Province, Shenyang 110016, China
5.Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba 275-0016, Japan
Recommended Citation
GB/T 7714
Jiang W,Yu T,He X,et al. Data-driven modeling the nonlinear backlash of steerable endoscope under a large deflection cannulation in ERCP surgery[C]//IEEE Robotics and Automation Society (RA), Shanghai Jiao Tong University, Shenzhen Institute of Advanced Technology (SIAT). New York:IEEE,2021:39-44.
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