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In this study, a new position control scheme for the tendon-sheath mechanism(TSM) which is used in flexible medical devices is presented. TSM is widelyused in dexterous robotic applications because it can flexibly work in limitedspace, in constrained environments, and provides efficient power transmissionfrom the external actuator to the distal joint. However, nonlinearities fromfriction and backlash hysteresis between the tendon and the sheath posechallenges in achieving precise position controls of the end effector. Previousstudies on the TSM only address the control problem under the assumptions ofknown tendon-sheath configuration and known model parameters of the backlashhysteresis nonlinearity. These approaches can have adverse impact andlimitations on the overall system performances and practical implementation.This paper presents a new approach to model and control the TSM-driven flexiblerobotic systems. The designed controller does not require exact knowledge ofnonlinear friction and backlash hysteresis parameters, only their bounds areonline estimated. Simulation and experimental validation results show that theproposed control scheme can significantly improve the tracking performanceswithout the presence of the exact knowledge of the model parameters and thesheath configuration.

Performance Control of Tendon-Driven Endoscopic Surgical Robots With Friction and Hysteresis