Exact kinematics for pitch motion and yaw motion of five degrees of freedom surgical robot

Takuya Matsunaga, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publication2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages467-472
Number of pages6
ISBN (Electronic)9781479984640
DOIs
Publication statusPublished - 2016 Jun 20
Event14th IEEE International Workshop on Advanced Motion Control, AMC 2016 - Auckland, New Zealand
Duration: 2016 Apr 222016 Apr 24

Other

Other14th IEEE International Workshop on Advanced Motion Control, AMC 2016
CountryNew Zealand
CityAuckland
Period16/4/2216/4/24

Keywords

  • Bilateral control
  • Laparoscopic surgery
  • Multi degrees of freedom forceps
  • Robotic surgery
  • Teleoperation

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Matsunaga, T., & Ohnishi, K. (2016). Exact kinematics for pitch motion and yaw motion of five degrees of freedom surgical robot. In 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016 (pp. 467-472). [7496394] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2016.7496394