Wire-driven flexible manipulator with constrained spherical joints for minimally invasive surgery

Ji, Daekeun; Kang, Tae Hun; Shim, Seongbo; Lee, Seongpung; Hong, Jin

doi:10.1007/s11548-019-01976-4

Cited by 16 publications

(7 citation statements)

References 41 publications

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“…The position accuracy of surgery robots is a critical requirement for patient safety since it affects the surgical operation directly 39 . In order to assess the validity of the method and the manipulability improvement effectiveness, it is required that the desired cartesian trajectory is accurately followed by the robot, with small and comparable errors for both the methods.…”

Section: Methodsmentioning

confidence: 99%

Experimental validation of manipulability optimization control of a 7‐DoF serial manipulator for robot‐assisted surgery

Danioni

Mira

et al. 2020

Robotics Computer Surgery

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Purpose Both safety and accuracy are of vital importance for surgical operation procedures. An efficient way to avoid the singularity of the surgical robot concerning safety issues is to maximize its manipulability in robot‐assisted surgery. The goal of this work was to validate a dynamic neural network optimization method for manipulability optimization control of a 7‐degree of freedom (DoF) robot in a surgical operation. Methods Three different paths, a circle, a sinusoid and a spiral were chosen to simulate typical surgical tasks. The dynamic neural network‐based manipulability optimization control was implemented on a 7‐DoF robot manipulator. During the surgical operation procedures, the manipulability of the robot manipulator and the accuracy of the surgical operation are recorded for performance validation. Results By comparison, the dynamic neural network‐based manipulability optimization control achieved optimized manipulability but with a loss of the accuracy of trajectory tracking (the global error was 1 mm compare to the 0.5 mm error of non‐optimized method). Conclusions The method validated in this work achieved optimized manipulability with a loss of error. Future works should be introduced to improve the accuracy of the surgical operation.

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Section: Methodsmentioning

confidence: 99%

Experimental validation of manipulability optimization control of a 7‐DoF serial manipulator for robot‐assisted surgery

Danioni

Mira

et al. 2020

Robotics Computer Surgery

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“…The proposed robot can reach constant curvature and it has a low torsional stress as well. The main benefit of the robot design is a hole along the whole backbone, which provides space for additional medical tools [17]. Kai Xu also proposed a surgical robot with redundant backbones and constrained bending curvature for continuously variable stiffness.…”

Section: Related Workmentioning

confidence: 99%

“…Kai Xu also proposed a surgical robot with redundant backbones and constrained bending curvature for continuously variable stiffness. Additionally, Xu developed a unique actuation system for continuum manipulators, which prevents it from buckling under the pressure [17].…”

Section: Application Analysismentioning

confidence: 99%

A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control

2019

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Wire-driven continuum manipulators are gaining more attention due to their flexibility and dexterity features. In comparison with traditional manipulators, the continuum structure is compliant and safe for human tissue and is able to easily adapt to the unstructured environment. Despite its advantages, wire-driven mechanisms have a serious problem with tension. While pushing and pulling, the wire loses tension, which leads to an ineffective way of driving the pulleys. Therefore, in this research, we propose a novel discrete continuum robot arm with a passive pre-tension mechanism that avoids the wire tension problem. Moreover, this paper will describe the backbone design of the discrete continuum arm and pre-tension mechanism structure, as well as forward and inverse kinematics and kinetic solutions, with simulation results.

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“…Other actuator principles for robots with variable stiffness are pneumatic actors [8] like Flexible-Fluid-Actuators [9] or pneumatic chambers used in [10]. Tendon pairs connected with each segment are widespread for enabling the independent motion of the segments [11,12].…”

Section: Introductionmentioning

confidence: 99%

Design, Modeling and Validation of a Tendon-Driven Soft Continuum Robot for Planar Motion Based on Variable Stiffness Structures

Wockenfu

Weisheit

Brandt

et al. 2022

IEEE Robot. Autom. Lett.

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Robotic structures based on variable stiffness enable high-performance and flexible motion systems that are inherently safe and thus allow safe Human-Robot Collaboration. This paper presents the design of a robotic structure based on variable stiffness. A robotic manipulator is developed using three variable stiff segments based on particle jamming with a backbone architecture and two tendons for an underactuated motion control of the whole structure. By switching the structural stiffness, the manipulator is able to perform complex planar motion with only one pair of tendons, reducing the number of actuators required. A kinematic modeling approach for the calculation of the forward kinematics of this soft continuum structure is presented, and the validation on the real system is explained. The kinematic simulation is performed with a multibody simulation model (MBS) using rigid body elements in combination with rotational springs. The validation of the model is carried out with visual measurements of the real system using defined target shapes. Simulation and experimental results are discussed and compared also with a common constant curvature model. The developed MBS-model demonstrates a promising modeling approach with a position error lower 3 % for the calculation of the presented manipulator under gravity.

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Wire-driven flexible manipulator with constrained spherical joints for minimally invasive surgery

Cited by 16 publications

References 41 publications

Experimental validation of manipulability optimization control of a 7‐DoF serial manipulator for robot‐assisted surgery

Experimental validation of manipulability optimization control of a 7‐DoF serial manipulator for robot‐assisted surgery

A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control

Design, Modeling and Validation of a Tendon-Driven Soft Continuum Robot for Planar Motion Based on Variable Stiffness Structures

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