Mechanism Design and Kinematics Analysis of a Micro Instrument for Robotic Minimally Invasive Surgery

Ma, Ruqi; Wang, Weidong; Dong, Wei; Du, Zhijiang

doi:10.3724/sp.j.1218.2013.00402

Cited by 4 publications

(2 citation statements)

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“…The amount of computation is very large, which has a detrimental effect on real time trajectory tracking. Absolute position mode in the master-slave reflection algorithm may generate serious unwanted motion of the instrument tip during transformation of position and orientation of the master manipulator (Ma et al, 2013). The simple scaling factor in joint 2012) is used to control the surgical instrument, but an error is generated between the actual and desired position of the instrument tip, which cannot meet requirements in actual surgical operations.…”

Section: Discussionmentioning

confidence: 99%

“…Absolute position of master manipulator was considered to realize trajectory reflection between master and slave manipulator, position and orientation of instrument tip should keep consistent with the end of master manipulator at any time (Ma et al, 2013). Actually, there is a big difference between workspace size between the master and slave manipulator.…”

Section: Introductionmentioning

confidence: 99%

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Master-slave control and evaluation of force sensing for robot-assisted minimally invasive surgery

Niu

et al. 2020

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Purpose Existing robot-assisted minimally invasive surgery (RMIS) system lacks of force feedback, and it cannot provide the surgeon with interaction forces between the surgical instruments and patient’s tissues. This paper aims to restore force sensation for the RMIS system and evaluate effect of force sensing in a master-slave manner. Design/methodology/approach This paper presents a four-DOF surgical instrument with modular joints and six-axis force sensing capability and proposes an incremental position mode master–slave control strategy based on separated position and orientation to reflect motion of the end of master manipulator to the end of surgical instrument. Ex-vivo experiments including tissue palpation and blunt dissection are conducted to verify the effect of force sensing for the surgical instrument. An experiment of trajectory tracking is carried out to test precision of the control strategy. Findings Results of trajectory tracking experiment show that this control strategy can precisely reflect the hand motion of the operator, and the results of the ex-vivo experiments including tissue palpation and blunt dissection illustrate that this surgical instrument can measure the six-axis interaction forces successfully for the RMIS. Originality/value This paper addresses the important role of force sensing and force feedback in RMIS, clarifies the feasibility to apply this instrument prototype in RMIS for force sensing and provides technical support of force feedback for further clinical application.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%