A geometric approach for inverse kinematics of a 4-link redundant In-Vivo robot for biopsy

Sardana, Lokesh; Sutar, Mihir Kumar; Pathak, Pushparaj Mani

doi:10.1016/j.robot.2013.09.001

Cited by 20 publications

(10 citation statements)

References 17 publications

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“…In other recent studies on inverse kinematics and robot modularity, Sardana et al. 18 used geometric approach to solve the inverse kinematics of a four-link manipulator for biopsy in a three-dimensional work space. The twisted movement was considered at first joint only.…”

Section: Introductionmentioning

confidence: 99%

Investigating the potential of redundant manipulators in narrow channels

Singla

Narayan

Arora

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, an attempt has been made to investigate the potential of redundant manipulators, while tracking trajectories in narrow channels. The behavior of redundant manipulators is important in many challenging applications like under-water welding in narrow tanks, checking the blockage in sewerage pipes, performing a laparoscopy operation etc. To demonstrate this snake-like behavior, redundancy resolution scheme is utilized using two different approaches. The first approach is based on the concept of task priority, where a given task is split and prioritize into several subtasks like singularity avoidance, obstacle avoidance, torque minimization, and position preference over orientation etc. The second approach is based on Adaptive Neuro Fuzzy Inference System (ANFIS), where the training is provided through given datasets and the results are back-propagated using augmentation of neural networks with fuzzy logics. Three case studies are considered in this work to demonstrate the redundancy resolution of serial manipulators. The first case study of 3-link manipulator is attempted with both the approaches, where the objective is to track the desired trajectory while avoiding multiple obstacles. The second case study of 7-link manipulator, tracking trajectory in a narrow channel, is investigated using the concept of task priority. The realistic application of minimum-invasive surgery (MIS) based trajectory tracking is considered as the third case study, which is attempted using ANFIS approach. The 5-link spatial redundant manipulator, also known as a patient-side manipulator being developed at CSIR-CSIO, Chandigarh is used to track the desired surgical cuts. Through the three case studies, it is well demonstrated that both the approaches are giving satisfactory results.

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Section: Introductionmentioning

confidence: 99%

Investigating the potential of redundant manipulators in narrow channels

Singla

Narayan

Arora

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…To start with, the four-link module is sub-divided into two equidistant halves with a Mid-VP such that links in each half can be manipulated independently. Unlike in Sardana et al [ 21 ], the proposed approach is applicable if all links of the manipulator have equal length, every two consecutive links have similar length pattern, or all links are distinctive in lengths. These three cases have different peculiarities but we will only focus on the second case as it is the case of the radiosurgical robot which this study is based on.…”

Section: Proposed Geometric Methodsmentioning

confidence: 99%

Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot

et al. 2017

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BackgroundSnake-like robot is an emerging form of serial-link manipulator with the morphologic design of biological snakes. The redundant robot can be used to assist medical experts in accessing internal organs with minimal or no invasion. Several snake-like robotic designs have been proposed for minimal invasive surgery, however, the few that were developed are yet to be fully explored for clinical procedures. This is due to lack of capability for full-fledged spatial navigation. In rare cases where such snake-like designs are spatially flexible, there exists no inverse kinematics (IK) solution with both precise control and fast response.MethodsIn this study, we proposed a non-iterative geometric method for solving IK of lead-module of a snake-like robot designed for therapy or ablation of abdominal tumors. The proposed method is aimed at providing accurate and fast IK solution for given target points in the robot’s workspace. n-1 virtual points (VPs) were geometrically computed and set as coordinates of intermediary joints in an n-link module. Suitable joint angles that can place the end-effector at given target points were then computed by vectorizing coordinates of the VPs, in addition to coordinates of the base point, target point, and tip of the first link in its default pose. The proposed method is applied to solve IK of two-link and redundant four-link modules.ResultsBoth two-link and four-link modules were simulated with Robotics Toolbox in Matlab 8.3 (R2014a). Implementation result shows that the proposed method can solve IK of the spatially flexible robot with minimal error values. Furthermore, analyses of results from both modules show that the geometric method can reach 99.21 and 88.61% of points in their workspaces, respectively, with an error threshold of 1 mm. The proposed method is non-iterative and has a maximum execution time of 0.009 s.ConclusionsThis paper focuses on solving IK problem of a spatially flexible robot which is part of a developmental project for abdominal surgery through minimal invasion or natural orifices. The study showed that the proposed geometric method can resolve IK of the snake-like robot with negligible error offset. Evaluation against well-known methods shows that the proposed method can reach several points in the robot’s workspace with high accuracy and shorter computational time, simultaneously.

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“…Gan et al [19] have derived an inverse kinematics (IK) solution for a 5-DOF robotic arm (Pioneer 2), which has similarities to Paul's method. Other studies have investigated the IK problem of robots with redundancy, providing analytical solutions based on various assumptions related to the redundancy settings [20][21][22].…”

Section: Introductionmentioning

confidence: 99%

Geometric approach to solving inverse kinematics of six DOF robot with spherical joints

Hadidi,

Bouaziz,

Mahfoudi

et al. 2023

Acta Polytech

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Inverse kinematics is a fundamental concept in robotics that plays a crucial role in a robot’s ability to perform tasks. In this contribution, we propose a novel geometric approach based on vector calculus to solve the inverse kinematics problem. The primary advantage of this approach originates from the solutions, which exhibit a linear form and uncoupled equations. To validate the effectiveness and correctness of our proposed method, we constructed a six-degrees-of-freedom robot. This robot is controlled by an Arduino Mega 2650 on which we have implemented the inverse kinematics algorithm. The validation process involved considering various desired trajectories of the end-effector, which were simulated in Matlab and then performed by the physical robot. Importantly, our findings confirm that the end-effector successfully tracks the predefined trajectories. Furthermore, we conducted a comparative analysis between Paul’s method and the results obtained from joint angles using our proposed approach. Interestingly, our study reveals a significant similarity between the two sets of results, reaffirming the accuracy and validity of the approach presented in this study.

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A geometric approach for inverse kinematics of a 4-link redundant In-Vivo robot for biopsy

Cited by 20 publications

References 17 publications

Investigating the potential of redundant manipulators in narrow channels

Investigating the potential of redundant manipulators in narrow channels

Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot

Geometric approach to solving inverse kinematics of six DOF robot with spherical joints

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