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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.

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Title Motion analysis of a robotic assisted surgery and microsurgery system - experimental verification
Author(s) Dalvand, Mohsen Moradi
Shirinzadeh, Bijan
Qin, Yanding
Schwalb, Willem
Smith, Julian
Zhong, Yongmin
Conference name Mechatronics Technology. Conference (16th : 2012 : Tianjin City, China)
Conference location Tianjin City, China
Conference dates 16-19 Oct. 2012
Title of proceedings ICMT 2012 : Proceedings of the 16th International Conference on Mechatronics Technology
Editor(s) [Unknown]
Publication date 2012
Conference series International Conference on Mechatronics Technology
Start page 398
End page 403
Total pages 6
Publisher Tianjin Foreign Language Electronic & Audio-Video Publishing House
Place of publication Tianjin City, China
Keyword(s) Motion Control
Parallel Robot
Remote Centreof- Motion (RCM)
Minimally Invasive Surgery (MIS)
Minimally Invasive Micro-Surgery (MIMS)
Summary 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.
ISBN 9787900769428
Language eng
Field of Research 091302 Automation and Control Engineering
091304 Dynamics, Vibration and Vibration Control
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1.1 Full written paper - refereed
Copyright notice ©2012, Tianjin Foreign Language Electronic & Audio-Video Publishing House
Persistent URL http://hdl.handle.net/10536/DRO/DU:30056195

Document type: Conference Paper
Collections: Centre for Intelligent Systems Research
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Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.