Motion analysis of a robotic assisted surgery and microsurgery system - experimental verification
Dalvand, Mohsen Moradi, Shirinzadeh, Bijan, Qin, Yanding, Schwalb, Willem, Smith, Julian and Zhong, Yongmin 2012, Motion analysis of a robotic assisted surgery and microsurgery system - experimental verification, in ICMT 2012 : Proceedings of the 16th International Conference on Mechatronics Technology, Tianjin Foreign Language Electronic & Audio-Video Publishing House, Tianjin City, China, pp. 398-403.
Motion analysis of a parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS) and the control structures enabling it to achieve milli/micromanipulations under the constraint of moving through a fixed penetration point or so-called remote centre-of-motion (RCM) are presented in this article. Two control algorithms are proposed suitable for minimally invasive surgery (MIS) with submillimeter accuracy and for minimally invasive micro-surgery (MIMS) with submicrometer accuracy. The RCM constraint is performed without having any mechanical constraint. Control algorithms also apply orientation constraint preventing the tip to orient relative to the soft tissues due to the robot movements. Experiments were conducted to verify accuracy and effectiveness of the proposed control algorithms for MIS and MIMS operations. The experimental results demonstrate accuracy and performance of the proposed position control algorithms.
Field of Research
091302 Automation and Control Engineering 091304 Dynamics, Vibration and Vibration Control
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