TY - JOUR
T1 - Development of robotic heart-beat simulator using parallel mechanism based on in vivo measurement
AU - Toyoda, Kazutaka
AU - Okamoto, Jun
AU - Okada, Kaoru
AU - Umeda, Takeshi
AU - Kawamura, Kazuya
AU - Kobayashi, Yo
AU - Takemura, Hirofumi
AU - Fujie, Masakatsu G.
PY - 2013
Y1 - 2013
N2 - In this study, we developed a robotic heartbeat simulator which is able to simulate a heartbeat for quantitative evaluation of availability and safety of the master-slave surgical robot system with heartbeat synchronization mechanism. We got a design specification of the robotic heartbeat simulator from in vivo measurement by using an experimental animal (pig). Based on the specification, we fixed a parallel mechanism link parameter of the robotic heartbeat simulator by genetic algorithm (GA). We measured the working space of the robotic heartbeat simulator and we confirmed that the robotic heartbeat simulator has the desired operating range. Furthermore, we conducted heartbeat simulation experiment by the developed robot. The results showed that a maximum value of cross-correlation function between desired trajectory and measured trajectory was 0.98-0.99 in x, y, z, roll and yaw axis, 0.89 in pitch axis. By this result, we revealed that the robotic heartbeat simulator has a high performance to simulate a heartbeat.
AB - In this study, we developed a robotic heartbeat simulator which is able to simulate a heartbeat for quantitative evaluation of availability and safety of the master-slave surgical robot system with heartbeat synchronization mechanism. We got a design specification of the robotic heartbeat simulator from in vivo measurement by using an experimental animal (pig). Based on the specification, we fixed a parallel mechanism link parameter of the robotic heartbeat simulator by genetic algorithm (GA). We measured the working space of the robotic heartbeat simulator and we confirmed that the robotic heartbeat simulator has the desired operating range. Furthermore, we conducted heartbeat simulation experiment by the developed robot. The results showed that a maximum value of cross-correlation function between desired trajectory and measured trajectory was 0.98-0.99 in x, y, z, roll and yaw axis, 0.89 in pitch axis. By this result, we revealed that the robotic heartbeat simulator has a high performance to simulate a heartbeat.
KW - In vivo motion sensing
KW - Ischemic cardiac disease
KW - Motion simulator
KW - Parallel mechanism
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U2 - 10.1299/kikaic.79.1066
DO - 10.1299/kikaic.79.1066
M3 - Article
AN - SCOPUS:84876898943
SN - 0387-5024
VL - 79
SP - 1066
EP - 1078
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
IS - 800
ER -