Remote centre-of-motion control algorithms of 6-RRCRR parallel robot assisted surgery system (PRAMiSS)

Dalvand, Mohsen Moradi and Shirinzadeh, Bijan 2012, Remote centre-of-motion control algorithms of 6-RRCRR parallel robot assisted surgery system (PRAMiSS), in ICRA 2012 : IEEE International Conference on Robotics and Automation : Robots and automation, innovation for tomorrow's needs, IEEE, Piscataway, N.J., pp. 3401-3406.

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Title Remote centre-of-motion control algorithms of 6-RRCRR parallel robot assisted surgery system (PRAMiSS)
Author(s) Dalvand, Mohsen Moradi
Shirinzadeh, Bijan
Conference name IEEE International Conference of Robotics and Automation (2012 : St. Paul, Minnesota)
Conference location St. Paul, Minnesota
Conference dates 14-18 May. 2012
Title of proceedings ICRA 2012 : IEEE International Conference on Robotics and Automation : Robots and automation, innovation for tomorrow's needs
Editor(s) [Unknown]
Publication date 2012
Conference series IEEE International Conference of Robotics and Automation
Start page 3401
End page 3406
Total pages 6
Publisher IEEE
Place of publication Piscataway, N.J.
Keyword(s) Remote Centre-of-Motion (RCM)
motion control
parallel robot
minimally invasive surgery
Summary In this paper a 6-RRCRR parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS) is introduced. Remote centre-of-motion (RCM) control algorithms of PRAMiSS suitable for minimally invasive surgery and microsurgery are also presented. The programmable RCM approach is implemented in order to achieve manipulation under the constraint of moving through the fixed penetration point. Having minimised the displacements of the mobile platform of the parallel micropositioning robot, the algorithms also apply orientation constraint to the instrument and prevent the tool tip to orient due to the robot movements during the manipulation. Experimental results are provided to verify accuracy and effectiveness of the proposed RCM control algorithms for minimally invasive surgery.
ISBN 146731403X
9781467314039
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, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30056196

Document type: Conference Paper
Collection: Centre for Intelligent Systems Research
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