@inproceedings{75ec6b233b9347b18a20b3caf77f01cd,
title = "Cable-driven interventional operation robot with Stribeck friction feedforward compensation",
abstract = "The interventional surgery is a type of minimally invasive operation which can reduce hospitalization time and greatly decrease patient morbidity compared to traditional methods. In previous work, the interventional operation robot was developed to send catheter or guidewire. The master side was a Phantom device and the PID control was used through upper machine. To further improve the precision and synchronization performance, a cable-driven slave side of interventional operation robot was developed. Friction model was built and friction feedforward algorithm was added to closed-loop control of the robot in this paper. Compared to the traditional motion control algorithm, the new method had advantages on dynamic performance.",
keywords = "Cable-driven, Master-slave system, Minimally invasive interventional surgery, Sribeck friction feedforward",
author = "Shuxiang Guo and Changqi Xu and Nan Xiao and Xianqiang Bao and Yan Zhao and Cheng Yang and Rui Shen",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 ; Conference date: 06-08-2017 Through 09-08-2017",
year = "2017",
month = aug,
day = "23",
doi = "10.1109/ICMA.2017.8016088",
language = "English",
series = "2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1787--1791",
booktitle = "2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017",
address = "United States",
}