Development of a new 4-DOF endoscopic parallel manipulator based on screw theory for laparoscopic surgery

Ibrahim, Khalil; Ramadan, Ahmed; Fanni, Mohamed; Kobayashi, Yo; Abo-Ismail, Ahmed; Fujie, Masakatus G.

doi:10.1016/j.mechatronics.2015.02.006

Cited by 29 publications

(13 citation statements)

References 23 publications

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“…In robotics, the class of parallel robots represent a constructive solution suitable for many industrial, medical or domestic applications, like flight simulators and entertainment rides [1], micromanufacturing [2], tool machine [3], pick and place operation [4], earthquake motion simulator [4], medical haptic devices [6], laparoscopic surgery [7], or even space docking technology [8].…”

Section: Introductionmentioning

confidence: 99%

ANN Based Inverse Dynamic Model of the 6-PGK Parallel Robot Manipulator

Moldovan

Grif

Gligor

2015

INT J COMPUT COMMUN

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This paper presents an inverse dynamic model estimation based on an artificial neural network of a complete new parallel robot manipulator prototype 6-PGK with six degrees of freedom, built at Petru Maior University of Tirgu-Mures. The model estimation of the parallel robot manipulator is performed with a feedforward artificial neural network. In the control engineering domain there are control structures that need the direct or inverse model of the process for ensuring the process control at the imposed performances. Usually, the determination of the direct/inverse mathematical model is a difficult or impossible task to be achieved. In these cases different non-parametric or parametric, off-line or on-line identification methods are used. A solution that may support the on-line parametric methods is represented by the feedforward artificial neural networks. By implementing feedforward artificial neural networks as a nonlinear autoregressive model with exogenous inputs, the authors investigate the possibility of choosing the optimum parameters that characterize the neural network so that it approximates as better as possible the model of the 6-PGK prototype robot. Finally an innovative algorithm is developed for obtaining the optimal configuration parameters set of the feedforward artificial neural network. The proposed algorithm helps in setting the optimal parameters of the neural network that offer high opportunities to provide satisfactory identification of the robot model. Experimental results obtained by a structure derived from the proposed solution demonstrate a good approximation related to the studied system, which is characterized by nonlinearities and high complexity.

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Section: Introductionmentioning

confidence: 99%

ANN Based Inverse Dynamic Model of the 6-PGK Parallel Robot Manipulator

Moldovan

Grif

Gligor

2015

INT J COMPUT COMMUN

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“…Ibrahim et al have proposed a 4‐DOF parallel manipulator (2‐PUU_2‐PUS). A real prototype of this 4‐DOF parallel manipulator was produced from annealed stainless steel . Singularity problems for this 4‐DOF parallel manipulator are reported by Khalifa et al Modification of the design of this manipulator is necessary to overcome these problems.…”

Section: Introductionmentioning

confidence: 92%

“…THe 2‐PUU_2‐PUS manipulator introduced by Khalil et al. () has 4‐DOF and can be used as an orientation mechanism. This manipulator consists of 4 limbs.…”

Section: Differences From Previous Systemsmentioning

confidence: 99%

Development of a new 3‐DOF parallel manipulator for minimally invasive surgery

Khalifa

Fanni

Mohamed

et al. 2018

Robotics Computer Surgery

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This article proposes a novel dexterous endoscopic parallel manipulator for minimally invasive surgery. The proposed manipulator has 3 degrees of freedom (3-DOF), which consist of two rotational DOFs and one translational DOF (2R1T DOFs). The manipulator consists of 3 limbs exhibiting identical kinematic structure. Each limb contains an active prismatic joint followed by 2 consecutive passive universal joints. The proposed manipulator has a unique arrangement of its joints' axes. This unique arrangement permits large bending angles, ±90° in any direction, and a workspace almost free from interior singularities. These advantages allow the proposed manipulator to outperforms existing surgical manipulators. However, this unique arrangement makes the analysis of the robot extremely difficult. Therefore, a geometrical/analytical approach is used to facilitate its singularity analysis. Construction of the virtual prototype is accomplished using ADAMS software to validate the proposed manipulator and its bending capability. A closed-form solution for inverse kinematics is obtained analytically. Also, the forward kinematics solution is obtained numerically. Moreover, evaluation of the workspace is achieved using motion/force transmissibility indices. A practical experiment has been performed using a scaling technique and PID controller. The experimental results show the feasibility of the teleoperated surgical system using the proposed parallel manipulator as the slave.

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“…The midpoint (8) of the distance between the points B 2 and B 3 was obtained, and the distance d 2 (11) was later calculated, to finally obtain what would be the angle b (12) (Figure 4…”

Section: Forward Kinematicmentioning

confidence: 99%

“…1 According to their structure, parallel robots present certain advantages such as rigid structure, high precision, low inertia, and high speeds and accelerations, which have allowed them to be introduced in applications such as motion simulators, three-dimensional printers, rehabilitation systems, medical surgeries, positioning of objects, among others. [2][3][4][5][6][7][8] However, parallel robots also present certain disadvantages such as limitation in the workspace, complexity in the analysis and design of the robot, difficulty in obtaining kinematic and dynamic models because they are highly nonlinear and complex, as well as the singularities that they present due to their configuration. [9][10][11][12] Control in parallel robots is complex; according to Zubizarreta et al, 13 the best control approaches require dynamic models that are difficult to determine and may require significant computational effort that makes it difficult to implement in real time.…”

Section: Introductionmentioning

confidence: 99%

Dynamic analysis and control of a three-revolute–prismatic–spherical parallel robot by algebraic parameters identification

Ruiz-Hidalgo

Ortega

Pliego

et al. 2019

International Journal of Advanced Robotic Systems

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The inverse dynamic model of a three-revolute-prismatic-spherical parallel robot based on Lagrange method is presented. This parallel robot presents a different configuration in the orientation of the actuators of the already reported in the literature. The dynamic model is validated by simulations obtained with a virtual prototype under MSC Automatic Dynamic Analysis of Mechanical Systems environment. For positioning the moving platform in a desired orientation, a proportional-integral-derivative-type controller is implemented for trajectory tracking using the dynamic of the actuators. In this dynamic, the load supported is unknown, that is, due to the inclination of the moving platform, the weight is not evenly distributed. Algebraic identification of parameters is implemented in order to know the load and improve the response in the orientation of the moving platform. Some simulations were performed with the virtual prototype in cosimulation environment under MSC Automatic Dynamic Analysis of Mechanical Systems/View and MATLAB/Simulink to verify the performance of the proportional-integral-derivative controller using the algebraic parameters identification.

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Development of a new 4-DOF endoscopic parallel manipulator based on screw theory for laparoscopic surgery

Cited by 29 publications

References 23 publications

ANN Based Inverse Dynamic Model of the 6-PGK Parallel Robot Manipulator

ANN Based Inverse Dynamic Model of the 6-PGK Parallel Robot Manipulator

Development of a new 3‐DOF parallel manipulator for minimally invasive surgery

Dynamic analysis and control of a three-revolute–prismatic–spherical parallel robot by algebraic parameters identification

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