A Novel Position Compensation Scheme for Cable-Pulley Mechanisms Used in Laparoscopic Surgical Robots

Liang, Yunlei; Du, Zhijiang; Wang, Weidong; Sun, Lining

doi:10.3390/s17102257

Cited by 24 publications

(11 citation statements)

References 34 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Cable-driven transmission in the literature of mechanics can refer to more than one type of mechanical transmission [37,38]. In this paper, two types of cable transmission are used, namely pulley-cable transmission [39] and Bowden cable transmission [40]. A Bowden cable is a type of flexible cable used in applications where there is a need to transmit mechanical force or energy, implementing the movement of an inner cable relative to a hollow outer cable housing known as a sheath.…”

Section: Cable Drive Transmissionmentioning

confidence: 99%

Preliminary Results in Testing of a Novel Asymmetric Underactuated Robotic Hand Exoskeleton for Motor Impairment Rehabilitation

et al. 2020

View full text Add to dashboard Cite

Robotic exoskeletons are a trending topic in both robotics and rehabilitation therapy. The research presented in this paper is a summary of robotic exoskeleton development and testing for a human hand, having application in motor rehabilitation treatment. The mechanical design of the robotic hand exoskeleton implements a novel asymmetric underactuated system and takes into consideration a number of advantages and disadvantages that arose in the literature in previous mechanical design, regarding hand exoskeleton design and also aspects related to the symmetric and asymmetric geometry and behavior of the biological hand. The technology used for the manufacturing and prototyping of the mechanical design is 3D printing. A comprehensive study of the exoskeleton has been done with and without the wearer’s hand in the exoskeleton, where multiple feedback sources are used to determine symmetric and asymmetric behaviors related to torque, position, trajectory, and laws of motion. Observations collected during the experimental testing proved to be valuable information in the field of augmenting the human body with robotic devices.

show abstract

Section: Cable Drive Transmissionmentioning

confidence: 99%

Preliminary Results in Testing of a Novel Asymmetric Underactuated Robotic Hand Exoskeleton for Motor Impairment Rehabilitation

et al. 2020

View full text Add to dashboard Cite

show abstract

“…As it is shown in Figure 5 [38], [39], apart from the manipulator of the minimally invasive instrument, the pHRI related mechanism in the surgical arm mainly comprises a passive joint, two active revolute joint and a remote center of motion (RCM) mechanism. Except for satisfying the requirement of PCA, the RCM structure can also eliminate undesirable jitter by ensuring a stationary point that overlaps the surgical orifice, which is realized by a compound parallelogram structure.…”

Section: A Experimental Platformmentioning

confidence: 99%

A PSO-Optimized Fuzzy Reinforcement Learning Method for Making the Minimally Invasive Surgical Arm Cleverer

Wang

et al. 2019

IEEE Access

Self Cite

View full text Add to dashboard Cite

For robotic-assisted surgery, the preoperative preparation procedure within which the surgical arms need to be adjusted manually to their expected configuration can pose interlocking problems in terms of accuracy, system robustness, and human-robot interaction experience. Previous work about variable impedance/admittance control methods did improve the smoothness of this procedure while individual characteristics of different operating personnel haven't yet been adequately considered. To further improve this process on the basis of existing methods, a novel strategy based on fuzzy Sarsa(λ)-learning algorithm is both proposed and incorporated into the virtual parameter adjustment strategy to achieve physical human-robot interaction (pHRI) so that the robot can acclimatize various handling characteristics of different operators through enough online learning. To also shorten the online training cycle, reduce the undesirable subjective factors and improve the overall training performance, a particle-swarm-optimization-based (PSO-based) algorithm is as well employed for optimizing the partition of state variable space and the distribution of discrete actions. Several groups of experiments have demonstrated the validity of this scheme and the effectiveness of the PSO optimization element. INDEX TERMS Fuzzy reinforcement learning, PSO-based optimization, physical human-robot interaction, variable admittance control, surgical robot preoperative preparation.

show abstract

“…Robot-assisted minimal invasive surgery (RMIS), which is famous for its precise position, dexterity enhancement and high success rate in complex surgery, has been greatly developed during the past few years [1]- [4]. The minimally invasive surgical robot can bring the surgeons dexterous instrument control, shorten operation time and reduce the operation risk [5]- [7].…”

Section: Introductionmentioning

confidence: 99%

Mechanism Design and Optimization of a Haptic Master Manipulator for Laparoscopic Surgical Robots

Liang

Sun

et al. 2019

IEEE Access

Self Cite

View full text Add to dashboard Cite

Serve as the human-robot interface of laparoscopic surgical robot, the master device always plays a crucial role in terms of master-slave manipulation. Growing demands of robot-assisted surgery system also warrant more rational design and optimization for the master manipulator mechanism, which turn out to be important for improving the performance of surgical operations. In this paper, a novel 9 degrees of freedom (DOFs) haptic master manipulator applied to laparoscopic surgical robots is proposed. First of all, the mechanical configuration of the serial master manipulator is presented along with its corresponding kinematic analysis. The proposed strategy can decouple the posture and position completely and to a certain extent simplify the kinematics calculations. Then a mechanism optimization index which synthesizes the global kinematic performances, the global positioning accuracy and the structure length utilization of the manipulator mechanism is introduced. Finally, an improved particle swarm optimization algorithm is proposed to find the optimal mechanism design parameters. The optimization index and algorithm are verified by comparing the optimized parameters with the initial settings. Theoretical analysis and optimization results have demonstrated that the master manipulator can achieve better kinematic performances while maintaining 6 dimensions force feedback.

show abstract

A Novel Position Compensation Scheme for Cable-Pulley Mechanisms Used in Laparoscopic Surgical Robots

Cited by 24 publications

References 34 publications

Preliminary Results in Testing of a Novel Asymmetric Underactuated Robotic Hand Exoskeleton for Motor Impairment Rehabilitation

Preliminary Results in Testing of a Novel Asymmetric Underactuated Robotic Hand Exoskeleton for Motor Impairment Rehabilitation

A PSO-Optimized Fuzzy Reinforcement Learning Method for Making the Minimally Invasive Surgical Arm Cleverer

Mechanism Design and Optimization of a Haptic Master Manipulator for Laparoscopic Surgical Robots

Contact Info

Product

Resources

About