# Shape-adaptive Hysteresis Compensation for Tendon-driven Continuum Manipulators

arXiv: https://arxiv.org/abs/2109.06907 · HTML: https://mlsanity.com/paper/2109.06907/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Sep 2021.

## Built on by (most cited first, 4 of 4)

- [Hysteresis Compensation of Flexible Continuum Manipulator using RGBD Sensing and Temporal Convolutional Network](https://mlsanity.com/paper/2402.11319/) (2024)
- [SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-time Hysteresis Compensation Control Algorithm](https://mlsanity.com/paper/2406.18388/) (2024)
- [Vibration-Assisted Hysteresis Mitigation for Achieving High Compensation Efficiency](https://mlsanity.com/paper/2503.02720/) (2025)
- [MarUco: A Markerless 6D Pose Estimation Framework for Closed-Loop Control of Surgical Continuum Manipulators](https://mlsanity.com/paper/2602.16365/) (2026)

## Abstract (arXiv)

Tendon-driven continuum manipulators (TDCM) are commonly used in minimally invasive surgical systems due to their long, thin, flexible structure that is compliant in narrow or tortuous environments. There exist many researches for precise tip control of the articulating section. However, these models do not account for the proximal shaft shape of TDCM, affecting the tip controls in practical settings. In this paper, we propose a gradient-based shift detection method based on motor current that can easily find the offset of task space models (i.e., hysteresis). We analyze our proposed methods with multiple Intra-cardiac Echocardiography catheters, which are typical commercial example of TDCM. Our results show that the errors from varied proximal shape are considerably reduced, and the accuracy of the tip manipulation is improved when changing external environmental structures.