SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-time Hysteresis Compensation Control Algorithm

Abstract-- Cable-Driven Continuum Manipulators (CDCMs) enable scar-free procedures via natural orifices and improve target lesion accessibility through curved paths. This paper introduces an extensible CDCM with a Semi-active Mechanism (SAM) to expand the workspace via translational motion without additional mechanical elements or actuation. We collect a hysteresis dataset using 8 fiducial markers and RGBD sensing. Based on this dataset, we develop a real-time hysteresis compensation control algorithm using the trained Temporal Convolutional Network (TCN) with a 1ms time latency, effectively estimating the manipulator's hysteresis In contrast, Cable-Driven Continuum Manipulators (CDCMs), with their flexible and bendable property, are expected to enable minimally invasive surgery by navigating through complex internal organs [2]-[5]. CDCMs are emerging as a next-generation surgical manipulation technology.