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. Attached Files Name Description MIMEType Size Downloads dalvand-motionanalysis-2012.pdf Published version application/pdf 1.04MB 246 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 Free to Read? Yes Persistent URL http://hdl.handle.net/10536/DRO/DU:30056195 Document type: Conference Paper Collections: Institute for Intelligent Systems Research and Innovation (IISRI) Open Access Collection GTP Research Related Links Link Description Connect to published version (restricted access) Go to link with your DU access privileges     Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. 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. Versions Version Filter Type Wed, 25 Sep 2013, 14:17:25 EST Wed, 25 Sep 2013, 14:25:03 EST Tue, 01 Oct 2013, 16:38:04 EST Tue, 06 Sep 2016, 21:35:58 EST Tue, 05 Dec 2017, 12:42:39 EST Fri, 07 Sep 2018, 16:40:46 EST Filtered Full Citation counts:   Cited 0 times in TR Web of Science Cited 0 times in Scopus Search Google Scholar Access Statistics: 271 Abstract Views, 246 File Downloads  -  Detailed Statistics Created: Wed, 25 Sep 2013, 14:17:25 EST