TY - GEN
T1 - Development of a Control Algorithm for a Hybrid Structure Surgical Manipulator
AU - Liu, Quanquan
AU - Duan, Lihong
AU - Zhang, Bo
AU - Zhang, Xin
AU - Sun, Tongyang
AU - Wang, Chunbao
AU - Shi, Qing
AU - Shang, Wanfeng
AU - Shen, Yajing
AU - Lin, Zhuohua
AU - Wu, Zhengzhi
AU - Li, Weiguang
AU - Fujie, Masakatsu G.
N1 - Funding Information:
This work was supported in part by Global COE (Centers of Excellence) program “Global Robot Academia”, from the Ministry of Education, Culture, Sports, Science and Technology of Japan, in part by Science and Technology Foundation of Guangdong, China (No.2016A020220001), in part by Technology Research Foundation of Basic Project of Shenzhen, China (No. JCYJ20160428110654601 and JCYJ20160428110354308), and in part by Research Foundation of Health and Family Planning Commission of Shenzhen Municipality, China (No.201601054), in part by the Returned overseas business foundation of Shenzhen (No.2016001), in part by China postdoctoral project (No.2017M612654). 1. Shenzhen Institute of Geriatrics, Shenzhen, China 2. School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China 3. Faculty of Engineering, Waseda University, Tokyo, Japan 4.Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China 5. Shenzhen Dapeng New District Nan’ao People’s Hospital, Shenzhen, China 6. School of Mechanical Engineering, Guangxi University of Science and Technology, Guangxi, China 7. The Mechanical and Biomedical Engineering, City University of Hongkong, China. ͊These authors contributed equally to this work. Correspondence to: C. Wang, Z. Wu, Shenzhen Institute of Geriatrics, China. E-mail: (chunbaowang, szwzz001)@163.com.
Publisher Copyright:
© 2017 IEEE.
PY - 2018/8/24
Y1 - 2018/8/24
N2 - Minimally invasive techniques bring revolutionary progress in surgical manipulation via reduced incision, less blood loss and shorten hospital stay. Robotic assisted minimally invasive surgeries have not only benefited patient on further cosmetic surgical performance, but also surgeon on improved manipulability by flexible mechanism. In order to achieve necessary dexterity, we developed a multiple degree of freedoms (DOFs) manipulator for surgical assistance. The surgical manipulator consists of two serial bendable segments, and each bendable segment is composed of three parallel universal-joint based bending linkages. The parallel configuration in a single bendable segment can achieve Omni-bending orientation in space, and the hybrid structure enlarges manipulator's flexibility via redundancy mechanism. A shape optimization algorithm is proposed to construct the inverse kinematics of the redundancy structure. The bending experiments of the surgical manipulator to evaluate the positioning accuracy are performed, the experimental results demonstrated that the mean positioning error of the end effector is within 1.2 mm. It is capable of providing a solution for accurate manipulation of soft tissue.
AB - Minimally invasive techniques bring revolutionary progress in surgical manipulation via reduced incision, less blood loss and shorten hospital stay. Robotic assisted minimally invasive surgeries have not only benefited patient on further cosmetic surgical performance, but also surgeon on improved manipulability by flexible mechanism. In order to achieve necessary dexterity, we developed a multiple degree of freedoms (DOFs) manipulator for surgical assistance. The surgical manipulator consists of two serial bendable segments, and each bendable segment is composed of three parallel universal-joint based bending linkages. The parallel configuration in a single bendable segment can achieve Omni-bending orientation in space, and the hybrid structure enlarges manipulator's flexibility via redundancy mechanism. A shape optimization algorithm is proposed to construct the inverse kinematics of the redundancy structure. The bending experiments of the surgical manipulator to evaluate the positioning accuracy are performed, the experimental results demonstrated that the mean positioning error of the end effector is within 1.2 mm. It is capable of providing a solution for accurate manipulation of soft tissue.
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U2 - 10.1109/CYBER.2017.8446405
DO - 10.1109/CYBER.2017.8446405
M3 - Conference contribution
AN - SCOPUS:85053832784
SN - 9781538604892
T3 - 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
SP - 1665
EP - 1670
BT - 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
Y2 - 31 July 2017 through 4 August 2017
ER -