A novel flexible hyper-redundant surgical robot: prototype evaluation using a single incision flexible access pelvic application as a clinical exemplar

Clark, James E.; Noonan, David P.; Vitiello, Valentina; Sodergren, Mikael H.; Shang, Jianzhong; Cundy, Thomas P.; Yang, Guang‐Zhong; Darzi, Ara

doi:10.1007/s00464-014-3716-2

Cited by 15 publications

(1 citation statement)

References 22 publications

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“…Hyper-redundant robot are used in many areas such as: Industrial inspection [7], aquatic environment [22], surgery [3], and etc. This systems offer many independent degrees of freedom and snake robots, elephant trunk robots, serpentine robots are some of representative cases.…”

Section: Related Workmentioning

confidence: 99%

An Optimization Approach for the Inverse Kinematics of a Highly Redundant Robot

Lima

Pereira

Costa

et al. 2016

Advances in Intelligent Systems and Computing

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Abstract. This paper describes a robot with 12 degrees of freedom for pick-and-place operations using bricks. In addition, an optimization approach is proposed, which determines the state of each joint (that establishes the pose for the robot) based on the target position while minimizing the effort of the servomotors avoiding the inverse kinematics problem, which is a hard task for a 12 DOF robot manipulator. Therefore, it is a multi-objective optimization problem that will be solved using two optimization methods: the Stretched Simulated Annealing method and the NSGA II method. The experiments conducted in a simulation environment prove that the proposed approach is able to determine a solution for the inverse kinematics problem. A real robot formed by several servomotors and a gripper is also presented in this research for validating the solutions.

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Section: Related Workmentioning

confidence: 99%