Paper Info
Title
Analysis of Dynamic Friction and Elongation Characteristics of the Tendon Sheath System
Abstract
The manipulator system of the robot for natural orifice transluminal endoscopic surgery (NOTES) consists of two parts: The tendon sheath system and the continuum manipulator. The continuum manipulator is connected with the driving element by the tendon sheath system. However, the continuum manipulator is so small that a tiny error in the position of the tendon which drives the continuum manipulator can cause a huge change in its shape. This is contradictory to the characteristics of high friction loss and high position error of the tendon sheath system. Therefore, it is necessary to analyze the nonlinear friction force of the tendon sheath system and construct its elongation model. In this paper, the Stribeck friction model and Hooke's law were used to study the hysteresis characteristics of the driving tendon. And a novel friction model is proposed which can accurately describe the tension distribution and elongation of the driving tendon in the sheath at different velocities. The simulation results show that the friction and the position error during the reciprocating motion of the tendon sheath system can be accurately described by the proposed friction model.
Year
DOI
Venue
2021
10.1007/978-3-030-89134-3_14
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2021, PT III
Keywords
DocType
Volume
Surgical robot, Tendon sheath system, Nonlinear friction, Hysteresis
Conference
13015
ISSN
Citations 
PageRank 
0302-9743
0
0.34
References 
Authors
0
6
Name
Order
Citations
PageRank
Tao Zhang100.34
Mingyue Liu200.34
Yanqiang Lei300.68
Fuxin Du401.35
Rui Song502.70
Yibin Li622659.56