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

arXiv: https://arxiv.org/abs/2406.18388 · HTML: https://mlsanity.com/paper/2406.18388/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 6 of its 47 references that are in the map.
- First posted on arXiv 26 Jun 2024.

## Builds on (most cited first, 6 of 6)

- [An Empirical Evaluation of Generic Convolutional and Recurrent Networks for Sequence Modeling](https://mlsanity.com/paper/1803.01271/) (2018)
- [Automating Surgical Peg Transfer: Calibration with Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans](https://mlsanity.com/paper/2012.12844/) (2020)
- [Shape-adaptive Hysteresis Compensation for Tendon-driven Continuum Manipulators](https://mlsanity.com/paper/2109.06907/) (2021)
- [Non-linear Hysteresis Compensation of a Tendon-sheath-driven Robotic Manipulator using Motor Current](https://mlsanity.com/paper/2011.01817/) (2020)
- [Hysteresis Compensation of Flexible Continuum Manipulator using RGBD Sensing and Temporal Convolutional Network](https://mlsanity.com/paper/2402.11319/) (2024)
- [Optimizing Base Placement of Surgical Robot: Kinematics Data-Driven Approach by Analyzing Working Pattern](https://mlsanity.com/paper/2402.16101/) (2024)

## Built on by (most cited first, 2 of 2)

- [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)

Cable-Driven Continuum Manipulators (CDCMs) enable scar-free procedures but face limitations in workspace and control accuracy due to hysteresis. We introduce an extensible CDCM with a Semi-active Mechanism (SAM) and develop a real-time hysteresis compensation control algorithm using a Temporal Convolutional Network (TCN) based on data collected from fiducial markers and RGBD sensing. Performance validation shows the proposed controller significantly reduces hysteresis by up to 69.5% in random trajectory tracking test and approximately 26% in the box pointing task. The SAM mechanism enables access to various lesions without damaging surrounding tissues. The proposed controller with TCN-based compensation effectively predicts hysteresis behavior and minimizes position and joint angle errors in real-time, which has the potential to enhance surgical task performance.