Compliant Remote Center Motion Mechanism for Minimally Invasive Surgical Robots
06 Apr 2018-pp 1-5
TL;DR: In this article, the authors presented conceptual design of 2-DOF isosceles trapezoidal remote center motion mechanism using mechanically generated RCM. The use of compliant links over rigid link mechanism brings the precision in manipulation.
Abstract: A high precision or surgeon skills are required in some of the precision procedures such as micro-scale minimally invasive surgeries. Robotic manipulators are being explored for carrying out surgeries with minimal invasion, outstanding precision and stability of the tool. Major challenges in developing such systems are motion of the tool with “mechanical” remote center and preserving surgical feel of the surgeon. This paper presents conceptual design of 2-DOF isosceles trapezoidal remote center motion mechanism. The proposed concepts use mechanically generated RCM. The compact and handy design helps to preserve the ‘surgical feel’. The use of compliant links over rigid link mechanism brings the precision in manipulation. Extensive, nonlinear FE analysis demonstrates the accuracy of the RCM. Further the actuation method, sensor scheme and control scheme are presented as an example case.
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01 Jan 2022
TL;DR: In this paper , a robot that is controlled by hand gestures using the Inertial Measurement Unit sensors is proposed to increase the productivity and efficiency of an operation besides minimizing the efforts, time, and labor.
Abstract: Automation technology plays an increasingly major role in providing higher efficiency in almost all fields of knowledge. One of the sectors of automation is Robotics, which involves building mechanical and electronic structures that would run on computer codes. These codes with technical advancement can further be upgraded to machine learning and artificial information algorithms. Robotics has the potential to bridge the gap between the physical and the cybernetic world. The prime objective of this paper is to put forward a robot that can increase the productivity and efficiency of an operation besides minimizing the efforts, time, and labor. Alongside, the arm also ensures the safety of the operator. The paper initially discusses the basics of robots and a few significant terminologies related to them. There are diverse ways to control a robot, one of them being gesture control. The researcher proposes to build a robot that is controlled by hand gestures using the Inertial Measurement Unit sensors. Further, a discussion is also made on the mechanical design with CAD modeling, electronic systems, and code for controlling the robotic arm with sensor inputs.
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TL;DR: In this article, a rigid isosceles-trapezoidal linkage model is proposed to provide an accurate analytical result for its notch-type flexural counterpart, and the influence of dimensional parameters on the center shift is discussed.
Abstract: An isosceles-trapezoidal flexural pivot can be of great use for practical designs, especially in the cases that a pure rotation about a virtual pivot is required. The analysis of rotational precision for such a structure is important for the mechanical design in precise-required applications. For this purpose, a rigid isosceles-trapezoidal linkage model is first proposed to provide an accurate analytical result for its notch-type flexural counterpart. The influence of dimensional parameters on the center shift is discussed. In order to disclose the equivalence between leaf-type flexure structure and its pseudo-rigid-body model, a transitional model is introduced, from which an equivalent pseudo-rigid-body model for leaf-type isosceles-trapezoidal flexure structure is then derived. The results of both simulation and experiment verify that the equivalent rigid model is also accurate enough in the case of a larger deflection.
49 citations
Additional excerpts
...The virtual Center O moves from point O to point O1[7]....
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...The mechanism is capable of generating instantaneous virtual center [7]....
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...Compliant mechanisms are known [7] for their advantages such as higher accuracy, zero back-lash, frictionless motion, and high precision in positioning....
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07 Aug 2002
TL;DR: A new solution to laparoscopic manipulation based on force feedback control is presented, which allows to both explicitly control the forces applied to the patient through the trocar, and to precisely control the position of the surgical instrument.
Abstract: In this paper, we present a new solution to laparoscopic manipulation based on force feedback control. This method allows to both explicitly control the forces applied to the patient through the trocar, and to precisely control the position of the surgical instrument. It does not require any geometrical model of the operative environment, nor any fine robot base placement prior to the instrument insertion. Different control strategies, involving different kinds of sensory equipments are proposed. They are experimentally validated on a laboratory apparatus.
35 citations
TL;DR: A new solution to laparoscopic manipulation based on forcefeedback control is presented that allows to both explicitely control the forces applied to the patient through the trocar and to precisely control the position of the surgical instrument.
Abstract: In this paper, we present a new solution to laparoscopic manipulation based on forcefeedback control. This method allows us to both explicitely control the forces applied to the patient through the trocar and to precisely control the position of the surgical instrument. It does not require any geometrical model of the operative environment nor any fine robot base placement prior to the instrument insertion. Different adaptive control strategies involving different kinds of sensory equipments are proposed. These strategies are experimentally validated on a laboratory apparatus. An experiment is also presented where a laparoscope held by the robot's arm tracks a target through visual servoing.
27 citations
"Compliant Remote Center Motion Mech..." refers background in this paper
...In comparison, the dexterous workspace produced through computer control can violate the constraint under noisy situations and can be very dangerous in some cases of MIS like vitreoretinal surgery [8-10]....
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