Arrangement Optimization of Robotic surgery Arms at Sinaflex surgical platform

Toumajpour, Sharafeddin; Moradi, Hamid; Mirbagheri, Alireza

doi:10.1109/icrom54204.2021.9663457

Cited by 3 publications

(8 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Furthermore, this feature leads to a reduction in the number of clutches during a real surgery, helping the surgeon to be more focused. The consuming time for calculating each position is 0.101080 s and 0.176764 s for the proposed method and the method of, 21 respectively. It can be seen that the presented method is more efficient than 21 as it is claimed in Section 1.…”

Section: Resultsmentioning

confidence: 99%

“…In this method, 5 parameters and five rotation matrices should be calculated, while for using the conventional Denvit Hartenberg method proposed in ref. 21, 8 parameters and 8 rotation matrices are used. Therefore, the method in the current study is presented due to its lower computational cost.…”

Section: Kinematic Descriptionmentioning

confidence: 99%

“…To provide a large workspace along with a small error of the end effector position, a large stiffness and small inertia, the master manipulator (Figure 1A,B) of Sina flex telesurgery system 21 takes advantage of a hybrid (serial‐parallel) mechanism (Figure 1B). The structure consists of a parallelogram (Figure 1C,D) followed by a serial spherical mechanism called the gimbal mechanism (Figure 1E,F).…”

Section: Master Manipulator Kinematic Analysismentioning

confidence: 99%

“…17 A master manipulator as a haptic interface with a hybrid mechanism was introduced in our research group in 2017 at the Research Center for Biomedical Technologies and Robotics, Tehran university of medical sciences, as the master manipulator of Sina flex robotic telesurgery system. Some distinguishable features of this telesurgery system can be mentioned as an adjustable master console, modular surgical robotic arms integrated with the 3-DoF bed in the slave side, 20,21 and a cameraman robot, called RoboLens bedside . 22 More technical detail about Sina flex robotic telesurgery system can be found in ref.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Workspace and dexterity analysis of the hybrid mechanism master robot in Sina_flex robotic telesurgery system: An in vivo experiment

Aghanouri,

Moradi,

Alibeik

et al. 2024

Robotics Computer Surgery

Self Cite

View full text Add to dashboard Cite

Sinaflex robotic telesurgery system has been introduced recently to provide ergonomic postures for the surgeon along with dexterous workspace for robotic telesurgery. The robot is described, and the forward and inverse kinematics are derived and validated by an experiment. The robot and operational workspaces and their dexterity are investigated and compared using the data collected during a dog vasectomy robotic telesurgery by Sinaflex. According to the simulation results, the workspace of the end effector is as large as 914.56 × 105 mm3, which can completely cover the ergonomic human hand workspace. The dexterity of the robot for the total and operational workspace is 0.4557 and 0.6565, respectively. In terms of the workspace size and the amount of dexterity, Sinaflex master robot can be considered a good choice to fulfil the requirements of the surgeon side robot in robotic telesurgery systems.

show abstract

Section: Resultsmentioning

confidence: 99%

Section: Kinematic Descriptionmentioning

confidence: 99%

Section: Master Manipulator Kinematic Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Workspace and dexterity analysis of the hybrid mechanism master robot in Sina_flex robotic telesurgery system: An in vivo experiment

Aghanouri,

Moradi,

Alibeik

et al. 2024

Robotics Computer Surgery

Self Cite

View full text Add to dashboard Cite

show abstract

“…This new telesurgery system is introduced by Sina Robotics and Medical Innovators Co. [18] (Tehran, Iran) in 2017 by providing novel features for the patient side and surgeon side. The robot has an adjustable master console, modular surgical robotic arms integrated with the 3-DoF bed in the slave side [19,20], and a novel cameraman robot, called Robolens bedside . More specifically, a new 7-DoF hybrid haptic interface, including 3-DoF translation, 3-DoF orientation and 1-DoF grasp, is designed with 3-DoF force feedback.…”

Section: Introductionmentioning

confidence: 99%

Workspace and Dexterity Investigation of the Master Robot in Sina flex Robotic Telesurgery System: An in Vivo Validation

Aghanouri¹,

Moradi²,

Alibeik³

et al. 2022

Preprint

Self Cite

View full text Add to dashboard Cite

Robotic surgery technique has gained admissibility in recent years. To provide ergonomic postures for the surgeon along with dexterous workspace for the Sinaflex robotic telesurgery system, a new haptic interface is introduced at the surgeon side of the robot. To analyze its performance, in this paper, the forward and inverse kinematics of the master manipulator are derived using a new geometrical approach. The workspace of the robot is derived, and its dexterity is investigated. Finally, to show the operational workspace and dexterity, the data collected during a dogs’ vasectomy robotic surgery by Sinaflex are analyzed. According to the simulation results, the workspace of the end effector is as large as 600×571×560 mm3 which is 40 times greater than the ergonomic human hand workspace. The in-vivo experiment shows that the operational surgery workspace is about 2.6% and 3.4% of the whole workspace for the left and right master manipulator, respectively. The dexterity of the robot based on the Global Conditioning Index, during simulation and experiment, for the position is 0.4557 and 0.6565, respectively. A large workspace along with its high dexterity of the master manipulator of Sinaflex robotic telesurgery system make it a good choice to fulfill robotic surgery technique requirements.

show abstract

Design and Trajectory Planning for a Novel Minimally Invasive Surgical Robot Positioning Arm

Dong,

Liu,

Duan

et al. 2024

2024 IEEE International Conference on Smart Internet of Things (SmartIoT)

View full text Add to dashboard Cite

Arrangement Optimization of Robotic surgery Arms at Sina_flex surgical platform

Cited by 3 publications

References 10 publications

Workspace and dexterity analysis of the hybrid mechanism master robot in Sina_flex robotic telesurgery system: An in vivo experiment

Workspace and dexterity analysis of the hybrid mechanism master robot in Sina_flex robotic telesurgery system: An in vivo experiment

Workspace and Dexterity Investigation of the Master Robot in Sina flex Robotic Telesurgery System: An in Vivo Validation

Design and Trajectory Planning for a Novel Minimally Invasive Surgical Robot Positioning Arm

Contact Info

Product

Resources

About

Arrangement Optimization of Robotic surgery Arms at Sinaflex surgical platform

Cited by 3 publications

References 10 publications

Workspace and dexterity analysis of the hybrid mechanism master robot in Sinaflex robotic telesurgery system: An in vivo experiment

Workspace and dexterity analysis of the hybrid mechanism master robot in Sinaflex robotic telesurgery system: An in vivo experiment

Workspace and Dexterity Investigation of the Master Robot in Sina flex Robotic Telesurgery System: An in Vivo Validation

Design and Trajectory Planning for a Novel Minimally Invasive Surgical Robot Positioning Arm

Contact Info

Product

Resources

About

Arrangement Optimization of Robotic surgery Arms at Sina_flex surgical platform

Workspace and dexterity analysis of the hybrid mechanism master robot in Sina_flex robotic telesurgery system: An in vivo experiment

Workspace and dexterity analysis of the hybrid mechanism master robot in Sina_flex robotic telesurgery system: An in vivo experiment