Deep learning for haptic feedback of flexible endoscopic robot without prior knowledge on sheath configuration

Volume: 163, Pages: 105129 - 105129
Published: Nov 1, 2019
Abstract
Distal-end force information is usually missing in flexible endoscopic robots due to the difficulties of mounting miniature force sensors on their end-effectors. This hurdle creates big challenges in providing a sense of touch for the operating surgeons. Many existing studies have developed models to calculate the distal-end forces based on the measured proximal-end forces of Tendon-Sheath Mechanisms (TSMs), but these models assume known sheath...
Paper Details
Title
Deep learning for haptic feedback of flexible endoscopic robot without prior knowledge on sheath configuration
Published Date
Nov 1, 2019
Volume
163
Pages
105129 - 105129
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