Forward kinematic analysis of in-vivo robot for stomach biopsy

Sutar, Mihir Kumar; Pathak, Pushparaj Mani; Sharma, Ambalika; Mehta, N. K.; Gupta, V. K.

doi:10.1007/s11701-012-0375-y

Cited by 8 publications

(9 citation statements)

References 16 publications

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“…Six joints are all rotating joints and each joint has a motor and reducer, for representing the relative position and orientation between the 6 links. In this study, coordinate systems between links are established base on the classical D-H method [4,5], as shown in Figure 2. The coordinate system consists of four parameters, the link offset "d", joint angles "", link length "a" Table 1.…”

Section: Body Structure Of Pr1400 Welding Robot and Its D-h Coordinatmentioning

confidence: 99%

Welding Robot Kinematics Analysis and Trajectory Planning

Li¹,

Tong²,

Wu³

et al. 2016

TELKOMNIKA

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Taking PR1400 welding robot as the research object, the structure and link parameters are analyzed and the standard Denavit-Hartenberg IntroductionWelding robot technology turns more and more mature with the improvement of industrial automation technology. Therefore, a lot of welding robots have been used in industrial production, the requirements of whose performance are getting increasingly high in order to ensure the welding quality. However, the researches with the robot body have disadvantages of high cost, long cycle and so on. So by simulation technology, kinematics analysis as well as trajectory planning of the robot is a feasible and ideal choice [1]. Many scholars have done researches focusing on the above issues. Wang and Zhou analyzed the structure and parameters of the robot linkages, and utilized the standard Denavit-Hartenberg method to establish the coordinates and the kinematic equation of the linkages. Due to the graphics and matrix calculation ability of Matlab as well as the Robotics Toolbox, the handling robot was modelled and its kinematics, inverse kinematics and trajectory planning were simulated [2]. In Literature, the mathematical simulation model of the offline trajectory planning for six links was built and the simulation results could be demonstrated intuitively and dynamically by using the MATLAB for the solid model of a welding Robot set up by using SolidWorks. Zhao and Sun carried out kinematics and PTP motion control of the 6-DOF robot.In this paper, PR1400 welding robot is taken as the research object. Firstly, the structure and link parameters are analyzed, and then kinematics of the robot is analyzed by use of D-H coordinate theory [3]. On the basis of kinematics analysis, a three-dimensional model of PR1400 is built by Matlab Robotics Toolbox, basd on which trajectory planning is carried out. Thereby the joints angular displacement, angular velocity, angular acceleration curve of PR1400 robot and the end motion trajectory curves are obtained, and then the operation state of the robot is furthermore analyzed.

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Section: Body Structure Of Pr1400 Welding Robot and Its D-h Coordinatmentioning

confidence: 99%

Welding Robot Kinematics Analysis and Trajectory Planning

Li¹,

Tong²,

Wu³

et al. 2016

TELKOMNIKA

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“…Design, modeling and fabrication of redundant surgical robot abdominal cavity exploration have been accomplished by Sutar et al [15]. The CAD model and the scaled model at different scales such as 4-scaled, 2-scaled and actual scale are shown in Figs.…”

Section: Introductionmentioning

confidence: 99%

“…Design and control of such redundant robotic manipulator is now becoming the topic of research of many researchers around the globe. Earlier a CAD model of the highly flexible redundant manipulator has been proposed by Sutar et al [15]. The kinematic analysis of the robotic manipulator has been done.…”

Section: Introductionmentioning

confidence: 99%

“…A four-scaled model of the proposed design has been successfully fabricated and tested under clinical conditions similar to that of a stomach biopsy [15]. Further the same Four-scaled fabricated model of the surgical robot for stomach biopsy [15] was repeated for the two-scaled model, manufactured by rapid prototyping and the one scaled model, manufactured by conventional machining and wire EDM process. All the fabricated scaled models are as shown in Figs.…”

Section: Introductionmentioning

confidence: 99%

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Hybrid trajectory/force control strategy for the in vivo robot during stomach biopsy

Sutar

Pathak

2019

J Braz. Soc. Mech. Sci. Eng.

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Traditional endoscopy involves limited surgery called biopsy and abdominal cavity exploration. Limitations like reduced dexterity and limited visualization, because of reduced access to the surgical field, limit the surgeon's perception and increases his strain. This results in error while performing surgery. To reduce this deficiency, the involvement of robotic assistance to surgery is one of the greatest milestones crossed so far in the history of medical science. Many researches have been carried out in this particular domain so far, and the research is still in its infancy stage. Several attempts have been made to diminish the limitations in conventional endoscopes used for biopsy, and new design and control strategies have been proposed. This paper presents a hybrid force/trajectory control strategy of such hyper-redundant robot when the robot interacts with the tissues. The force control is of interest here to avoid the damage of healthy tissues when robot interacts with them. To illustrate the methodology, an example of three-link redundant robot has been considered.

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“…15 A concept of virtual link–based controller for hyper-redundancy resolution is presented to control the tip trajectory of the in vivo robot used for surgical applications. 16 A shape control method of a hyper-redundant arm used to dock an object is proposed in Jareanpon et al 2 This is done by using whole-arm manipulation through encircling the object based on the virtual constraints on each link. Dynamics-based shape control of a hyper-redundant manipulator has been discussed in Mochiyama et al 17 Shape control provides fundamental control for whole-arm manipulation.…”

Section: Introductionmentioning

confidence: 99%

Curve-constrained collision-free trajectory control of hyper-redundant planar space robot

Dalla

Pathak

2017

Proceedings of the Institution of Mechanical Engineers, Part I:

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Redundancy resolution in a hyper-redundant space robots is a big challenge due to its extra degrees of freedom. This article presents a methodology to control motion planning of a planar space robot with multiple links, that is, hyper-redundant space robot. For control purpose, first a curve-constrained link trajectory tracking control has been developed. Then, the developed control approach has been extended for a collision-free trajectory tracking. For curve-constrained link trajectory tracking control, the backbone reference set (curve fitting) has been applied to exploit the redundancy of two-dimensional space robot of multiple links. For kinematic control purpose, a limited number of joints are actuated. The hyper-redundant space robot has the advantage that manipulator can be configured differently through actuation of different joints. The concept of a limited number of joint actuation has further been extended for collision-free trajectory tracking in the workspace in the presence of obstacles. Collision avoidance is based on the configuration transformation approach where the joints are made active or fixed joint position to facilitate collision-free tip trajectory. Before configuration transformation, collision detection has been performed based on the pseudo-distance criterion. The bond graph technique has been used for the dynamic model of the system and to formulate system equations. The simulation and the animation results validated the successful execution of the proposed approaches for the curve-constrained collision-free trajectory planning.

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Forward kinematic analysis of in-vivo robot for stomach biopsy

Cited by 8 publications

References 16 publications

Welding Robot Kinematics Analysis and Trajectory Planning

Welding Robot Kinematics Analysis and Trajectory Planning

Hybrid trajectory/force control strategy for the in vivo robot during stomach biopsy

Curve-constrained collision-free trajectory control of hyper-redundant planar space robot

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