Showing papers by "Yili Fu published in 2012"

Development of a medical robot system for minimally invasive surgery

Abstract: Background Robot-assisted systems have been widely used in minimally invasive surgery (MIS) practice, and with them the precision and accuracy of surgical procedures can be significantly improved. Promoting the development of robot technology in MIS will improve robot performance and help in tackling problems from complex surgical procedures. Methods A medical robot system with a new mechanism for MIS was proposed to achieve a two-dimensional (2D) remote centre of motion (RCM). An improved surgical instrument was designed to enhance manipulability and eliminate the coupling motion between the wrist and the grippers. The control subsystem adopted a master–slave control mode, upon which a new method with error compensation of repetitive feedback can be based for the inverse kinematics solution. A unique solution with less computation and higher satisfactory accuracy was also obtained. Tremor filtration and trajectory planning were also addressed with regard to the smoothness of the surgical instrument movement. Results The robot system was tested on pigs weighing 30–45 kg. The experimental results show that the robot can successfully complete a cholecystectomy and meet the demands of MIS. Conclusions The results of the animal experiments were excellent, indicating a promising clinical application of the robot with high manipulability. Copyright © 2011 John Wiley & Sons, Ltd.

Dynamic simulation and analysis for bolt and nut mating of dual arm robot

Abstract: Dual arm cooperative robots have been developed in diverse fields A dual arm robot is more advantageous than the single arm version The difficulty in mechanical analysis for dual arms comes mainly from the closed chain system To overcome this problem, the kinematic analysis of dual arm robot is introduced, including kinematic analysis of closed chain and the arms The kinematic constraint relations for bolt and nut mating of dual arm robot are analyzed By using the constraint relations, the bolt and nut mating simulation is performed on the 3D model of the dual arm robot Simulation results show that this method can make the dual arm robot complete bolt and nut mating smoothly