Abstract
This paper presents a exact kinematics of the five degrees of freedom (DoF) surgical robot derived by the geometrical relation of the structure. In laparoscopic surgery, there are some advantages for patients because incision on abdominal wall is small. However, laparoscopic surgery is difficult for surgeons. Therefore, surgical robots with have been studied and developed to support surgeons. Conventional surgical robots have high position accuracy to realize delicate tasks. On the other hand, the transmission of force sensation is inadequate. Force sensation is important information for safer operation. Therefore, a five DoF haptic surgical robot is developed to transmit force sensation to the operator. The mechanism of five DoF surgical robot is suitable for implementing four-channel bilateral control which is one of the methods to transmit force sensation. Particularly, link mechanisms convert the motion of actuators into pitch motion and yaw motion of the end-effector. To control pitch motion and yaw motion precisely, the kinematics of the five DoF surgical robot is necessary. Besides, there is geometrical interference between pitch angle and yaw angle. In this paper, the exact kinematics for the pitch motion and yaw motion is derived. The validity of the kinematics is verified by step response. Then, the performance of four-channel bilateral control with the exact kinematics is verified by the experiments.
| Original language | English |
|---|---|
| Title of host publication | 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 467-472 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781479984640 |
| DOIs | |
| Publication status | Published - 2016 Jun 20 |
| Event | 14th IEEE International Workshop on Advanced Motion Control, AMC 2016 - Auckland, New Zealand Duration: 2016 Apr 22 → 2016 Apr 24 |
Other
| Other | 14th IEEE International Workshop on Advanced Motion Control, AMC 2016 |
|---|---|
| Country | New Zealand |
| City | Auckland |
| Period | 16/4/22 → 16/4/24 |
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Keywords
- Bilateral control
- Laparoscopic surgery
- Multi degrees of freedom forceps
- Robotic surgery
- Teleoperation
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Exact kinematics for pitch motion and yaw motion of five degrees of freedom surgical robot. / Matsunaga, Takuya; Ohnishi, Kouhei.
2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 467-472 7496394.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Exact kinematics for pitch motion and yaw motion of five degrees of freedom surgical robot
AU - Matsunaga, Takuya
AU - Ohnishi, Kouhei
PY - 2016/6/20
Y1 - 2016/6/20
N2 - This paper presents a exact kinematics of the five degrees of freedom (DoF) surgical robot derived by the geometrical relation of the structure. In laparoscopic surgery, there are some advantages for patients because incision on abdominal wall is small. However, laparoscopic surgery is difficult for surgeons. Therefore, surgical robots with have been studied and developed to support surgeons. Conventional surgical robots have high position accuracy to realize delicate tasks. On the other hand, the transmission of force sensation is inadequate. Force sensation is important information for safer operation. Therefore, a five DoF haptic surgical robot is developed to transmit force sensation to the operator. The mechanism of five DoF surgical robot is suitable for implementing four-channel bilateral control which is one of the methods to transmit force sensation. Particularly, link mechanisms convert the motion of actuators into pitch motion and yaw motion of the end-effector. To control pitch motion and yaw motion precisely, the kinematics of the five DoF surgical robot is necessary. Besides, there is geometrical interference between pitch angle and yaw angle. In this paper, the exact kinematics for the pitch motion and yaw motion is derived. The validity of the kinematics is verified by step response. Then, the performance of four-channel bilateral control with the exact kinematics is verified by the experiments.
AB - This paper presents a exact kinematics of the five degrees of freedom (DoF) surgical robot derived by the geometrical relation of the structure. In laparoscopic surgery, there are some advantages for patients because incision on abdominal wall is small. However, laparoscopic surgery is difficult for surgeons. Therefore, surgical robots with have been studied and developed to support surgeons. Conventional surgical robots have high position accuracy to realize delicate tasks. On the other hand, the transmission of force sensation is inadequate. Force sensation is important information for safer operation. Therefore, a five DoF haptic surgical robot is developed to transmit force sensation to the operator. The mechanism of five DoF surgical robot is suitable for implementing four-channel bilateral control which is one of the methods to transmit force sensation. Particularly, link mechanisms convert the motion of actuators into pitch motion and yaw motion of the end-effector. To control pitch motion and yaw motion precisely, the kinematics of the five DoF surgical robot is necessary. Besides, there is geometrical interference between pitch angle and yaw angle. In this paper, the exact kinematics for the pitch motion and yaw motion is derived. The validity of the kinematics is verified by step response. Then, the performance of four-channel bilateral control with the exact kinematics is verified by the experiments.
KW - Bilateral control
KW - Laparoscopic surgery
KW - Multi degrees of freedom forceps
KW - Robotic surgery
KW - Teleoperation
UR - http://www.scopus.com/inward/record.url?scp=84982867251&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84982867251&partnerID=8YFLogxK
U2 - 10.1109/AMC.2016.7496394
DO - 10.1109/AMC.2016.7496394
M3 - Conference contribution
AN - SCOPUS:84982867251
SP - 467
EP - 472
BT - 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
ER -