{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:37:07Z","timestamp":1777927027857,"version":"3.51.4"},"reference-count":21,"publisher":"SAGE Publications","issue":"8","license":[{"start":{"date-parts":[[2015,5,6]],"date-time":"2015-05-06T00:00:00Z","timestamp":1430870400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2015,9]]},"abstract":"<jats:p>This article mainly includes the developing, dynamical modeling and control of a tendon-based robot system. First, a 5-degree-of-freedom tendon-based magnetic resonance imaging\u2013compatible robot for prostate needle insertion surgery is introduced briefly. What follows is the dynamical modeling of the robot system, where a mechanical dynamic model is established using the Lagrange method, and a lumped parameter tendon model is used to identify the nonlinear gain of the actuator. Based on the dynamical model, a fuzzy sliding mode control algorithm is proposed for accurate position control of the robot. Through simulations using different sinusoidal input signals, we observed that the sinusoidal tracking error at 1\/2\u03c0 Hz is 0.2\u2009mm and the needle tip positional precision of tracking a spatial arched curve remains less than 0.3\u2009mm. Finally, experiments on tendon-sheath transmission and robot position tracking are conducted, which shows that the insertion precision is 0.67\u2009mm in laboratory environment.<\/jats:p>","DOI":"10.1177\/0959651815581739","type":"journal-article","created":{"date-parts":[[2015,5,6]],"date-time":"2015-05-06T21:12:40Z","timestamp":1430946760000},"page":"711-727","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":4,"title":["Modeling and control of a high-precision tendon-based magnetic resonance imaging\u2013compatible surgical robot"],"prefix":"10.1177","volume":"229","author":[{"given":"Shan","family":"Jiang","sequence":"first","affiliation":[{"name":"Center for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinlong","family":"Lou","sequence":"additional","affiliation":[{"name":"Center for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fude","family":"Sun","sequence":"additional","affiliation":[{"name":"Center for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhiyong","family":"Yang","sequence":"additional","affiliation":[{"name":"Center for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiansheng","family":"Dai","sequence":"additional","affiliation":[{"name":"Center for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China"},{"name":"Centre for Robotics Research, King\u2019s College London, London, 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