Motion Control of a Master–Slave Minimally Invasive Surgical Robot Based on the Hand-Eye-Coordination

Tang, Aolin; Cao, Qixin; Tan, Hua-Qiao; Fujie, Masakatsu G.; Pan, Tiewen

doi:10.1007/978-4-431-55810-1_5

Cited by 7 publications

(4 citation statements)

References 3 publications

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“…The mechanisms of surgical robots mainly include Remote Center of Motion (RCM), series mechanisms, parallel mechanisms, and continuum mechanisms [24][25][26]. Remote Center of Motion refers to a mechanism where the output components of the mechanism can rotate around a fixed point in space.…”

Section: Surgical Robot Mechanismmentioning

confidence: 99%

Research on the Progress of Autonomous Technology in Robot Assisted Surgery

2023

acss

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Since the introduction of robotics technology into the operating room in the mid-1980s, doctors and researchers have been seeking to integrate higher intelligent technologies with robotic systems. Compared with conventional surgeries, surgical robot systems with higher intelligence often require higher security and accuracy, and can make decision adjustments through matching perception systems and the current surgical stage. Although a fully autonomous surgical robot system is still some distance from true clinical use. But with the accumulation and development of technology, robot intelligence technology with semi autonomy and partial doctor participation in decision-making will gradually be introduced into the operating room, providing a better platform for clinical surgery. This article mainly summarizes and prospects the current progress of robot assisted surgery and related intelligent technologies.

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Section: Surgical Robot Mechanismmentioning

confidence: 99%

Research on the Progress of Autonomous Technology in Robot Assisted Surgery

2023

acss

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“…However, all joints are coupled with the end posture, so there is a posture error between the expectation and the actual posture. A two-stage approximation and compensation method was presented to solve the joint angles, and the master–slave control strategy based on the incremental position and absolute pose was constructed (Tang et al , 2013; Tang, 2014). The proposed inverse kinematic method is always compensating for error; therefore, the accuracy of the method is relatively high.…”

Section: Introductionmentioning

confidence: 99%

A novel closed-form solutions method based on the product of exponential model for the minimally invasive surgical robot

Song

Pan

Niu

et al. 2022

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Purpose This study aims to represent a novel closed-form solutions method based on the product of the exponential model to solve the inverse kinematics of a robotic manipulator. In addition, this method is applied to master–slave control of the minimally invasive surgical (MIS) robot. Design/methodology/approach For MIS robotic inverse kinematics, the closed-form solutions based on the product of the exponential model of manipulators are divided into the RRR and RRT subproblems. Geometric and algebraic constraints are used as preconditions to solve two subproblems. In addition, several important coordinate systems are established on the surgical robot and master–slave mapping strategies are illustrated in detail. Finally, the MIS robot can realize master–slave control by combining closed-form solutions and master–slave mapping strategy. Findings The simulation of the instrument manipulator based on the RRR and RRT subproblems is executed to verify the correctness of the proposed closed-form solutions. The fact that the accuracy of the closed-form solutions is better than that of the compensation method is validated by the contrastive linear trajectory experiment, and the average and the maximum tracking errors are 0.1388 mm and 0.3047 mm, respectively. In the animal experiment, the average and maximum tracking error of the left instrument manipulator are 0.2192 mm and 0.4987 mm, whereas the average and maximum tracking error of the right instrument manipulator are 0.1885 mm and 0.6933 mm. The successful completion of the animal experiment comprehensively demonstrated the feasibility and reliability of the master–slave control strategy based on the novel closed-form solutions. Originality/value The proposed closed-form solutions are error-free in theory. The master–slave control strategy is not affected by calculation error when the closed-form solutions are used in the surgical robot. And the accuracy and reliability of the master–slave control strategy are greatly improved.

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“…For instance, (Yin et al, 2015) used magnetorheological fluids to return haptic sensations. Grounded commercial haptic devices as Omega (Force Dimension, CH) or Falcon (Novint Technologies Inc., United States) replace the control side in some experiments to project a more portable and sensorily complete experience of control as in the case reported in Tang et al (2016). In Madhani et al (1998) a solution built with two PHANToM haptic devices is presented, whereas (Cavusoglu et al, 1999) shows a six DoFs laparoscopic telesurgery workstation composed of an Immersion System Impulse Engine 3000 and two additional motors.…”

Section: Introductionmentioning

confidence: 99%

A Human Gesture Mapping Method to Control a Multi‐Functional Hand for Robot‐Assisted Laparoscopic Surgery: The MUSHA Case

et al. 2021

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This work presents a novel technique to control multi-functional hand for robot-assisted laparoscopic surgery. We tested the technique using the MUSHA multi-functional hand, a robot-aided minimally invasive surgery tool with more degrees of freedom than the standard commercial end-effector of the da Vinci robot. Extra degrees of freedom require the development of a proper control strategy to guarantee high performance and avoid an increasing complexity of control consoles. However, developing reliable control algorithms while reducing the control side’s mechanical complexity is still an open challenge. In the proposed solution, we present a control strategy that projects the human hand motions into the robot actuation space. The human hand motions are tracked by a LeapMotion camera and mapped into the actuation space of the virtualized end-effector. The effectiveness of the proposed method was evaluated in a twofold manner. Firstly, we verified the Lyapunov stability of the algorithm, then an user study with 10 subjects assessed the intuitiveness and usability of the system.

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Motion Control of a Master–Slave Minimally Invasive Surgical Robot Based on the Hand-Eye-Coordination

Cited by 7 publications

References 3 publications

Research on the Progress of Autonomous Technology in Robot Assisted Surgery

Research on the Progress of Autonomous Technology in Robot Assisted Surgery

A novel closed-form solutions method based on the product of exponential model for the minimally invasive surgical robot

A Human Gesture Mapping Method to Control a Multi‐Functional Hand for Robot‐Assisted Laparoscopic Surgery: The MUSHA Case

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