Data-driven modeling the nonlinear backlash of steerable endoscope under a large deflection cannulation in ERCP surgery
文献类型：会议论文
| 作者 | Jiang W(江维)1,4,5 ; Yu T(于涛)3,4; He X(何啸)3,4; Yang YM(杨永明)3,4; Wang ZD(王志东)2; Liu H(刘浩)3,4
|
| 出版日期 | 2021 |
| 会议日期 | July 15-19, 2021 |
| 会议地点 | Xining, China |
| 关键词 | Backlash modeling steerable endoscope large deflection cannulation LSTM |
| 页码 | 39-44 |
| 英文摘要 | Unexpected 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. |
| 源文献作者 | IEEE Robotics and Automation Society (RA) ; Shanghai Jiao Tong University ; Shenzhen Institute of Advanced Technology (SIAT) |
| 产权排序 | 1 |
| 会议录 | 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-6654-3678-6 |
| 源URL | [http://ir.sia.cn/handle/173321/29681]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Liu H(刘浩) |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing 100049, China 2.Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba 275-0016, Japan 3.Key Laboratory of Minimally Invasive Surgical, Liaoning Province, Shenyang 110016, China 4.Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, State Key Laboratory of Robotics, Shenyang 110016, China 5.Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, Shenyang 110016, China |
| 推荐引用方式 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]. 见:. Xining, China. July 15-19, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。