Design and optimization of a haptic manipulator using series-parallel mechanism

Yong, Li; Yan, Zhiyuan; Wang, Hongmin; Du, Zhijiang; Zhang, Yuchun

doi:10.1109/icma.2012.6285674

Cited by 10 publications

(14 citation statements)

References 10 publications

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“…During some long and complex surgeries, the surgeon limits the manipulation of the master manipulator to a more comfortable hand movement range to avoid fatigue. Therefore, in addition to satisfying the overall dexterity in the effective workspace, the master manipulator should have fewer dexterity fluctuations in the comfortable operation space to ensure consistent kinematical performance in all directions during long operations 21 . Thus, the reciprocal of the dexterity fluctuation was adopted to optimise the master manipulator movement in the comfortable operation space:

f_{4} = \sqrt{\int_{W_{c m}} d W_{c m} / \int_{W_{c m}} {(g - \frac{true \int_{W_{c m}} g d W_{c m}}{true \int_{W_{c m}} d W_{c m}})}^{2} d W_{c m}}

where, W cm is the intersection space of the comfortable operation space of the human hand W c and workspace of the master manipulator W m .…”

Section: Structure and Kinematics Of The Master Manipulatormentioning

confidence: 99%

“…Therefore, in addition to satisfying the overall dexterity in the effective workspace, the master manipulator should have fewer dexterity fluctuations in the comfortable operation space to ensure consistent kinematical performance in all directions during long operations. 21 Thus, the reciprocal of the dexterity fluctuation was adopted to optimise the master manipulator movement in the comfortable operation space: In summary, four indices were used to optimise the structure of the master manipulator with regard to workspace and kinematics. To integrate the four indices, which had different dimensions, they were transformed into a dimensionless comprehensive index.…”

Section: Structure and Kinematics Of The Master Manipulatormentioning

confidence: 99%

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Master manipulator optimisation for robot assisted minimally invasive surgery

Feng

et al. 2021

Robotics Computer Surgery

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Background In robot‐assisted minimally invasive surgery, the surgeon controls a robot by operating a pair of master manipulators. Thus, the performance of a master manipulator directly affects the work of the surgeon physiologically and psychologically. Aims In order to improve the operability and quality of operation, a structure optimisation method of master manipulator is proposed. Materials & Methods The optimisation index of workspace and dexterity of main manipulator based on ergonomics and kinematics is established, and the reasonable weight coefficient of optimisation index is determined by using combination weighting method. Results Experiments verified that the proposed optimisation method ensures a large workspace and good kinematic performance for the master manipulator. Conclusion This improves the comfort of the surgeon and can effectively avoid the problem of cutting off master–slave communication to adjust the position of the master manipulator owing to the small workspace.

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f_{4} = \sqrt{\int_{W_{c m}} d W_{c m} / \int_{W_{c m}} {(g - \frac{true \int_{W_{c m}} g d W_{c m}}{true \int_{W_{c m}} d W_{c m}})}^{2} d W_{c m}}

where, W cm is the intersection space of the comfortable operation space of the human hand W c and workspace of the master manipulator W m .…”

Section: Structure and Kinematics Of The Master Manipulatormentioning

confidence: 99%

Section: Structure and Kinematics Of The Master Manipulatormentioning

confidence: 99%

Master manipulator optimisation for robot assisted minimally invasive surgery

Feng

et al. 2021

Robotics Computer Surgery

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show abstract

“…It allows for 3 translational DOFs, 3 rotational DOFs, and 1 grasping DOF. Li et al [23] proposed an 8 DOFs haptic manipulator by using the serial-parallel mechanism. The parallel mechanism is designed to control 3 DOFs translational motion and the serial mechanism is a 4 DOFs quadruple-axial concurrent redundant mechanism designed to control three posture angles.…”

Section: Introductionmentioning

confidence: 99%

“…Besides, the designed parameters of traditional mechanism are insufficiently optimized in most cases. Previous researches mainly concentrate on improving the kinematics characteristics of master devices used in laparoscopic surgical robots, but motion precision and structure length capacity factor are not chosen as the optimization index [23], [26], [27]. The optimization schemes dedicated to maximize the kinematic performances of mechanism may generally result in lower motion accuracy and smaller workspace volume.…”

Section: Introductionmentioning

confidence: 99%

Mechanism Design and Optimization of a Haptic Master Manipulator for Laparoscopic Surgical Robots

Liang

Sun

et al. 2019

IEEE Access

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Serve as the human-robot interface of laparoscopic surgical robot, the master device always plays a crucial role in terms of master-slave manipulation. Growing demands of robot-assisted surgery system also warrant more rational design and optimization for the master manipulator mechanism, which turn out to be important for improving the performance of surgical operations. In this paper, a novel 9 degrees of freedom (DOFs) haptic master manipulator applied to laparoscopic surgical robots is proposed. First of all, the mechanical configuration of the serial master manipulator is presented along with its corresponding kinematic analysis. The proposed strategy can decouple the posture and position completely and to a certain extent simplify the kinematics calculations. Then a mechanism optimization index which synthesizes the global kinematic performances, the global positioning accuracy and the structure length utilization of the manipulator mechanism is introduced. Finally, an improved particle swarm optimization algorithm is proposed to find the optimal mechanism design parameters. The optimization index and algorithm are verified by comparing the optimized parameters with the initial settings. Theoretical analysis and optimization results have demonstrated that the master manipulator can achieve better kinematic performances while maintaining 6 dimensions force feedback.

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“…A relatively inexpensive 3-DOF haptic device called falcon which is also based on the modified delta parallel mechanism is made by Novint for game industry. In 2012 Li presented a haptic manipulator using series-parallel mechanism [10]. The hybrid mechanism take advantages of both parallel and serial mechanism and also result in relatively easy kinematic analysis.…”

Section: Introductionmentioning

confidence: 99%

Kinematic and static analysis of a cable-driven 3-DOF delta parallel mechanism for haptic manipulators

Jiang

Bian

Xie

et al. 2015

2015 34th Chinese Control Conference (CCC)

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With the rapid development of virtual reality technology, a variety of haptic devices have been designed and applied in the human computer interaction. The parallel mechanism is widely employed due to its high stiffness and resolution. However, its kinematics and dynamics are more complex than its serial counterpart since the parallel links are mechanical coupled. Specially, it is of great significance to make an accuracy gravity compensation for haptic manipulator on which the haptic transparency relies. This paper introduces a cable driven 3-DOF delta parallel mechanism for haptic manipulator and presents the forward and inverse kinematics analyses including the Jacobian matrix and the singularities. According to the principle of virtual work, the static model of the delta parallel manipulator is established and based on this, a practical algorithm for gravity compensation is proposed. The efficiency of the gravity compensation algorithm is validated by the simulation with ADAMS software.

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Design and optimization of a haptic manipulator using series-parallel mechanism

Cited by 10 publications

References 10 publications

Master manipulator optimisation for robot assisted minimally invasive surgery

Master manipulator optimisation for robot assisted minimally invasive surgery

Mechanism Design and Optimization of a Haptic Master Manipulator for Laparoscopic Surgical Robots

Kinematic and static analysis of a cable-driven 3-DOF delta parallel mechanism for haptic manipulators

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