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Tendon-sheath-driven manipulators (TSM) are widely used in minimally invasivesurgical systems due to their long, thin shape, flexibility, and compliancemaking them easily steerable in narrow or tortuous environments. Manycommercial TSM-based medical devices have non-linear phenomena resulting fromtheir composition such as backlash hysteresis and dead zone, which lead to aconsiderable challenge for achieving precise control of the end effector pose.However, many recent works in the literature do not consider the combinedeffects and compensation of these phenomena, and less focus on practical waysto identify model parameters in realistic conditions. This paper proposes asimplified piecewise linear model to construct both backlash hysteresis anddead zone compensators together. Further, a practical method is introduced toidentify model parameters using motor current from a robotic controller for theTSM. Our proposed methods are validated with multiple Intra-cardiacEchocardiography (ICE) catheters, which are typical commercial example of TSM,by periodic and non-periodic motions. Our results show that the errors frombacklash hysteresis and dead zone are considerably reduced and therefore theaccuracy of robotic control is improved when applying the presented methods.

Non-linear Hysteresis Compensation of a Tendon-sheath-driven Robotic Manipulator using Motor Current