Design parameter evaluation based on human operation for tip mechanism of forceps manipulator using surgical robot simulation

Effectiveness of Mechanical Design Optimization Using a Human-in-the-Loop Simulator for the Development of a Pediatric Surgical Robot

“…In addition to these mechanisms, the mechanisms that did not satisfy the Pareto optimal solution were selected. We confirmed that the variables used for optimization were in a trade-off relationship with each other in the previous study [24]. Hence, we selected the parameter that maximized the moving volume (Condition (D)) and the parameter that maximized the invisible area rate (Condition (E)).…”

“…Therefore, it was considered that an easy-to-use robot could be created by optimizing the mechanical design parameters based on the information related to the movement of this part by the surgeon. In the previous research studies [21][22][23][24], the needle-hooking motion used for esophageal anastomosis was examined during the application of a surgical assisted robot to an assumed congenital esophageal atresia procedure. The aim of this study was to verify the influence on the needle-hooking motion in a procedure that imitated esophagus anastomosis in congenital esophageal atresia using the forceps manipulator, optimizing the mechanical parameters of the tip joint obtained in the previous research [24].…”

“…In this experiment, five mechanisms were selected using the results of the Pareto optimal solution in the previous research [24]. In this optimization calculation, the moving volume and the invisible area rate were used.…”

“…The moving volume was the volume of the range through which the forceps moved in the body. The invisible area rate was the ratio of the amount that was not actually seen to the situation where the blade portion at the tip of the forceps was all visible [24].…”

Fixed-time tracking control for two-link rigid manipulator based on disturbance observer

“…With the continuous development and maturity of robot technology, robot manipulators are further applied to industry, agriculture, medical treatment, and space exploration (see, for example, Cao et al (2019), Chen et al (2019), Huang et al (2016), Kawamura et al (2016), Li et al (2016) and Trujillo et al (2019)), and so forth. Manipulators are multi-input and multi-output (MIMO) systems with strong nonlinearity and coupling.…”