Multibody model of dynamics and optimization of medical robot to soft tissue surgery

Ilewicz, Grzegorz

doi:10.1007/978-3-319-23923-1_19

Cited by 3 publications

(2 citation statements)

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“…[13][14][15][16][17] The RCM may be achieved using various mechanisms, some of them are reported in literature. [18][19][20][21][22][23][24][25][26] Researchers mostly use these RCM mechanisms for developing robotics systems for robotic-assisted surgery and surgery training applications. The ARAS-Diamond robot considered in this paper is based on a different methodology called the spherical parallel mechanism to mechanically generate the RCM point.…”

Section: Introductionmentioning

confidence: 99%

Robust H∞-based control of ARAS-diamond: A vitrectomy eye surgery robot

Bataleblu

Khorrambakht

Taghirad

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, we investigate the challenges of controlling the ARAS-Diamond robot for robotic-assisted eye surgery. To eliminate the system’s inherent uncertainty effects on its performance, a cascade architecture control structure is proposed in this paper. For the inner loop of this structure, two different robust controls, namely, [Formula: see text] and μ-synthesis, with stability and performance analysis, are synthesized. The outer loop of the structure, on the other hand, controls the orientation of the surgical instrument using a well-tuned PD controller. The stability of the system as a whole, considering both inner and outer loop controllers, is analyzed in detail. Furthermore, implementation results on the real robot are presented to illustrate the effectiveness of the proposed control structure compared to that of conventional controller designs in the presence of inherent uncertainties of the system and external disturbances, and it is observed that using [Formula: see text] controller in the inner loop has superior robust performance.

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Section: Introductionmentioning

confidence: 99%

Robust H∞-based control of ARAS-diamond: A vitrectomy eye surgery robot

Bataleblu

Khorrambakht

Taghirad

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…3 designed a five degrees-of-freedom (5-DOF) hybrid parallel robot for minimally invasive surgery, and its inverse dynamic model was derived by using the virtual work method on the basis of dynamically equivalent lumped masses. Grzegorz 4 built the dynamic model for a constant point mechanism of Robin heart medical robot in the Matlab and Simulink computer program. Zhang and Nelson 5 focused on the generation of inverse dynamic models for a spherical bevel-geared mechanism, and the present dynamic modeling methodology also gives a general dynamic analysis approach for other spherical articulated linkage mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Dynamic modeling and analysis of the instrument arm based on the physical properties of soft tissues

Yang

Wang

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part C:

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Surgical robot is a hotspot problem of the current research. This paper presents the dynamical analysis of an instrument arm for minimally invasive surgical robot. Firstly, the study presents a general dynamics modeling method, by which a dynamical model of the instrument arm is established and verified by simulation, then a general force of the trocar point is considered and related analysis is performed. Considering the diversity of the reaction force, one-dimensional force is added separately at the operating point and some simulations are performed based on the dynamic model. Secondly, mechanical characterization of soft tissues is researched based on the indentation experiments, where the constitutive models for compression and relaxation are derived and added to the dynamical model to establish a complete dynamic model with the property of soft tissues. Lastly, the trocar force is analyzed in detail where the instrument arm is found to be sensitive to the tiny force based on the simulation results, and then a force sensing strategy of contact force on soft tissues is presented. Comprehensively, dynamical analysis for the instrument arm will provide an important basis for its control.

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Full Dynamics and Optimization of a Controllable Minimally Invasive Robot for a Soft Tissue Surgery and Servicing Artificial Organs

Ilewicz

Harlecki

2018

Recent Advances in Technology Research and Education

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Multibody model of dynamics and optimization of medical robot to soft tissue surgery

Cited by 3 publications

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Robust H∞-based control of ARAS-diamond: A vitrectomy eye surgery robot

Robust H∞-based control of ARAS-diamond: A vitrectomy eye surgery robot

Dynamic modeling and analysis of the instrument arm based on the physical properties of soft tissues

Full Dynamics and Optimization of a Controllable Minimally Invasive Robot for a Soft Tissue Surgery and Servicing Artificial Organs

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