A new kinematics method based on a dynamic visual window for a surgical robot

Yu, Lei; Wang, Zhengyu; Yu, Pei; Wang, Tao; Song, Huajian; Du, Zhijiang

doi:10.1017/s026357471300088x

Cited by 9 publications

(13 citation statements)

References 15 publications

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“…This decomposition method considerably increases the number of variables but improves the optimization efficiency (parallelization is possible). 13 Deducing an expression of F 1 , F 2 , and F 3 that only contains known variables is complicated; thus, the IDF method is proposed. The main idea of the IDF method is to introduce auxiliary variables so that the original issue is decoupled to a three-sub-discipline issue.…”

Section: Individual Disciplinary Feasible Methodsmentioning

confidence: 99%

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Optimizing strap designs of upper limb prostheses

Liu

Zhang

et al. 2018

Advances in Mechanical Engineering

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The precise positioning design of upper limb prostheses is important for patients with upper limb disability. In this study, we propose an upper limb prosthesis with a negative pressure design. Mechanical analysis is performed to obtain the force and moment equilibrium equations. Then, the individual discipline feasible method is performed to decouple the original problem into a three-sub-discipline problem. A minimum of three shoulder straps of tension is obtained during optimization using the Isight harness scheme. The prosthetic socket can be firmly attached to the human body. Further experiments verify that the proposed device meets the basic requirements of wearing.

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Section: Individual Disciplinary Feasible Methodsmentioning

confidence: 99%

“…Equations (12) and (13) suggest that the internal forces of the three straps and the composition force of the stump to the body share a linear relation. A relation also exists among F 1 , F 3 , and F 2 .…”

Section: Force Equilibrium Equationmentioning

confidence: 99%

Optimizing strap designs of upper limb prostheses

Liu

Zhang

et al. 2018

Advances in Mechanical Engineering

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“…The Jacobian matrix is shown in equation (16). The singularities are analyzed based on the Jacobian matrix, and there is no singular point in the workspace.…”

Section: The Potential Energymentioning

confidence: 99%

“…According to equations (15) and (16), the Jacobian matrix of the trocar point can be calculated, as shown in equation (20). According to the Jacobian matrix, the general force of the trocar point only has an influence on the driving torque/force partly, the driving torque only has some relationship with the torque of the trocar point, and the driving force only has relationship with f y .…”

Section: F X Will Have An Obvious Influence On the Drivingmentioning

confidence: 99%

Dynamic modeling and analysis of the instrument arm based on the physical properties of soft tissues

Yang

Wang

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part C:

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Surgical robot is a hotspot problem of the current research. This paper presents the dynamical analysis of an instrument arm for minimally invasive surgical robot. Firstly, the study presents a general dynamics modeling method, by which a dynamical model of the instrument arm is established and verified by simulation, then a general force of the trocar point is considered and related analysis is performed. Considering the diversity of the reaction force, one-dimensional force is added separately at the operating point and some simulations are performed based on the dynamic model. Secondly, mechanical characterization of soft tissues is researched based on the indentation experiments, where the constitutive models for compression and relaxation are derived and added to the dynamical model to establish a complete dynamic model with the property of soft tissues. Lastly, the trocar force is analyzed in detail where the instrument arm is found to be sensitive to the tiny force based on the simulation results, and then a force sensing strategy of contact force on soft tissues is presented. Comprehensively, dynamical analysis for the instrument arm will provide an important basis for its control.

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“…[5] The Raven system was developed by the University of Washington and originally designed for military use. [6] Versatile surgical robots in master-slave isomeric form have become the main stream now, [7] for the reason that slave manipulators can be designed more suitable to specific needs of surgery, and the master equipment can be designed from ergonomic point of view. However, it is more difficult to control masterslave isometric robot because of problems such as workspace and kinematics transformation mismatch, and the real-time control demands that kinematics transformation, master-slave mapping and tremor attenuation must be accomplished in short period of time.…”

Section: Introductionmentioning

confidence: 99%

Master–slave real-time control strategy in Cartesian space for a novel surgical robot for minimally invasive surgery

Pan

et al. 2016

Computer Assisted Surgery

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The Fourth Affiliated Hospital, Harbin Medical University, Harbin, China ABSTRACT Robot-assisted systems can enhance the precision of surgical procedures, and have been widely used in minimally invasive surgery (MIS). This paper proposes the master-slave real-time control strategy for a novel surgical robot for MIS. The robot is equipped with two instrument manipulators and one laparoscope manipulator. The control strategy solves problems of kinematics transformation on consistency principle, intra-operative re-mapping and tremor attenuation in real-time. The kinematics model of slave instrument manipulators is established, and the master-slave control method in Cartesian space is proposed. Intra-operative re-mapping and real-time tremor attenuation algorithms are also proposed as auxiliary functions to improve surgical robot's performance. The proposed methods are verified by respective experiments. Finally, animal experiment is performed to verify the correctness and efficiency of the control strategy in this research.

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A new kinematics method based on a dynamic visual window for a surgical robot

Cited by 9 publications

References 15 publications

Optimizing strap designs of upper limb prostheses

Optimizing strap designs of upper limb prostheses

Dynamic modeling and analysis of the instrument arm based on the physical properties of soft tissues

Master–slave real-time control strategy in Cartesian space for a novel surgical robot for minimally invasive surgery

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