Integration and preliminary evaluation of an Insertable Robotic Effectors Platform for Single Port Access Surgery

Bajo, Andrea; Goldman, Roger E.; Wang, Long; Fowler, Dennis L.; Simaan, Nabil

doi:10.1109/icra.2012.6224986

Cited by 85 publications

(50 citation statements)

References 25 publications

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“…This assumption is reasonable since the IREP was designed with workspace allowing for surgical manipulation without reliance on an external manipulator changing the orientation of its stem. [39][40] The model allows for any angle as long as the proper projection matrix in Eq. (21) is used.…”

Section: The Orientation Workpace Of Irep In 2d Planementioning

confidence: 99%

Choice of handedness and automated suturing for anthropomorphic dual-arm surgical robots

Ding

Simaan

2014

Robotica

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SUMMARYLaparoscopic and Single Port Access Surgery (SPAS) present unique dexterity challenges related to dual-arm operations in confined spaces and tele-manipulation of highly dexterous surgical slaves. In an effort to reduce tele-manipulation burden, new paradigms for semi-automating surgical tasks are needed. This paper presents a new minimal constraint suturing and automated choice of handedness for anthropomorphic dual-arm robots. The automated choice of handedness supports surgeons during tele-manipulation of complex robotic slaves where dexterity and workspace constraints are difficult to learn. This criterion is also used to support automated dual-arm rendezvous for quicker suture exchange during dual-arm suturing. The minimal constraint algorithm presented in this paper allows surgeons to operate within a shared-control tele-manipulation framework whereby the surgeon controls the needle insertion speed and the robot controls the needle orientation while respecting a minimalistic set of tissue constraints. This framework is evaluated on a novel insertable robotic end-effectors platform for SPAS. A simulation study demonstrates the effectiveness of the automated choice of handedness criterion through a study of dexterity limitations of each arm. Additional simulations show the proposed algorithm for automated rendezvous and suture exchange.

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Section: The Orientation Workpace Of Irep In 2d Planementioning

confidence: 99%

Choice of handedness and automated suturing for anthropomorphic dual-arm surgical robots

Ding

Simaan

2014

Robotica

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“…Kinematics models have been built and analyzed. The approach for compliant motion control that does not require explicit estimation of interaction forces has also been presented in previous studies [1,2]. A continuum robot with a coupled tendon drive has been developed for use in the examination of human heart disease [4].…”

Section: Introductionmentioning

confidence: 99%

Attitude control based on fuzzy logic for continuum aircraft fuel tank inspection robot

Niu

Wang

Zong

2015

IFS

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Abstract. With a compliant structure and excellent bending properties, continuum robot has hyper-redundant degrees of freedom, and can be used in space-constrained environments as the aircraft fuel tank. Therefore, a continuum robot is designed to help crews inspect aircraft fuel tanks, which can improve maintenance efficiency and reduce the intensity of crews. According to the requirements of aircraft fuel tank inspection, the compliant and extensible drive mechanisms of the continuum robot are designed. The kinematic models of single joint segment and multi-joint segments of continuum robot are analyzed, and homogeneous transformation matrices are obtained. To improve control performance, a closed-loop fuzzy controller based on attitude feedback is proposed. The attitude sensor is installed on the top of each joint segment of a snake-like arm to form a closed-loop control system, and a fuzzy controller is designed to achieve fast and accurate control of the robot. The prototype platform of the continuum robot is built, and practical experiments are implemented on the platform. The effectiveness and stability of the fuzzy controller based on attitude feedback are verified.

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“…Kinematics models have been built and analysed. One approach to compliant motion control that does not require the explicit estimation of interaction forces has also been presented in previous studies [8][9][10][11]. A continuum robot with a coupled tendon drive has been developed for use in the examination of human heart disease [12].…”

Section: Introductionmentioning

confidence: 99%

Path-tracking Algorithm for Aircraft Fuel Tank Inspection Robots

Niu

Gao

et al. 2014

International Journal of Advanced Robotic Systems

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A 3D path-tracking algorithm based on endpoint approximation is proposed to implement the path traversal of robots designed to inspect aircraft fuel tanks. Kinematic models of single-joint segments and multiplejoint segments were created. First, each joint segment of the path was divided into many equal sections and the rotation angle was computed. The rotation angle was found for the plane determined by one divided point and the secondary terminal joint segment. Second, the shortest distance search strategy was used to calculate the bending angle of the joint segment. The main advantage of the algorithm was that only the terminal joint segment variables needed to be solved, the joint variables of other joint segments were copied from the adjacent front-end joint segment variables in turn. Finally, evaluation indexes of path tracking performance were proposed to evaluate the effect of the algorithm. Simulations of planar and space path tracking were carried out using MATLAB, and the effectiveness and stability of the tracking algorithm were verified.

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Integration and preliminary evaluation of an Insertable Robotic Effectors Platform for Single Port Access Surgery

Cited by 85 publications

References 25 publications

Choice of handedness and automated suturing for anthropomorphic dual-arm surgical robots

Choice of handedness and automated suturing for anthropomorphic dual-arm surgical robots

Attitude control based on fuzzy logic for continuum aircraft fuel tank inspection robot

Path-tracking Algorithm for Aircraft Fuel Tank Inspection Robots

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