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

Takuya Matsunaga, Kouhei Ohnishi

研究成果: Conference contribution

抜粋

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.

元の言語English
ホスト出版物のタイトル2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
出版者Institute of Electrical and Electronics Engineers Inc.
ページ467-472
ページ数6
ISBN(電子版)9781479984640
DOI
出版物ステータスPublished - 2016 6 20
イベント14th IEEE International Workshop on Advanced Motion Control, AMC 2016 - Auckland, New Zealand
継続期間: 2016 4 222016 4 24

Other

Other14th IEEE International Workshop on Advanced Motion Control, AMC 2016
New Zealand
Auckland
期間16/4/2216/4/24

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • これを引用

    Matsunaga, T., & Ohnishi, K. (2016). Exact kinematics for pitch motion and yaw motion of five degrees of freedom surgical robot. : 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