ArticleCyborg and bionic systems (Washington, D.C.)2024
An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control.
Article in Cyborg and bionic systems (Washington, D.C.), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 7 papers.
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Who cites it
7 citing papers in PubMed.
- An Underactuated Omnidirectional Docking Mechanism for Modular Serpentine Robots with DNA-Inspired Helical Continuum Units.Biomimetics (Basel, Switzerland) · 2026Article
- Machine-learning methods for epilepsy diagnosis and therapeutic prevention: advances, setbacks, and opportunities.Neurological sciences : official journal of the Italian Neurological Society and of the Italian Society of Clinical Neurophysiology · 2026Review
- Robot-Assisted Osteotomy and Reconstruction with AR Guidance in Maxillofacial Reconstructive Surgery.Cyborg and bionic systems (Washington, D.C.) · 2026Article
- Advanced bioactuator selection for efficient human motion simulation in biohybrid robots using CSF dynamic knowledge.Scientific reports · 2025Article
- Design and Control of the Manipulator of Magnetic Surgical Forceps with Cable Transmission.Micromachines · 2025Article
- Efficient control of spider-like medical robots with capsule neural networks and modified spring search algorithm.Scientific reports · 2025Article
- An effectiveness of machine learning models for estimate the financial cost of assistive services to disability care in the Kingdom of Saudi Arabia.Scientific reports · 2025Article
Corrections and comments
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Authors and funding
6 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Continuum manipulators can conform to curvilinear paths and manipulate objects in complex environments, which makes it emerging to be applied in minimally invasive surgery (MIS). However, different and controllable operating stiffness of the continuum manipulator is required during different stages of surgery to achieve safe access or stable and precise operation. This work proposes an operating stiffness controller (OSC) for the typical tendon-driven continuum manipulator based on the variable impedance control method with Lagrangian dynamic modeling. This controller can adjust the operating stiffness by modifying the driving forces along the driving tendons of the continuum manipulator without changing its material or structure. The proposed OSC converts the damping and stiffness matrices of the impedance control into variable parameters. This merit allows it to dynamically adjust the operating stiffness of the continuum manipulator according to the desired constant or time-varying stiffness. Furthermore, the OSC stability can be proven based on a Lyapunov function, and its stiffness control performances have been analyzed and evaluated in both simulations and experiments. The OSC controller generated average relevant error values of 7.82% and 3.09% for the operating stiffness control experiments with constant and time-varying desired stiffness, respectively. These experimental results indicate that the OSC has high accuracy, stability, and strong robustness in the operating stiffness control tasks.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.