Kinematic and workspace analysis of DIAMOND: An innovative eye surgery robot

Molaei, Amir; Abedloo, Ebrahim; Taghirad, Hamid D.; Marvi, Zahra

doi:10.1109/iraniancee.2015.7146336

Cited by 22 publications

(16 citation statements)

References 10 publications

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“…In this paper, two distinguished SPRs, namely, the ARAS-Diamond (2-DOF 5R) [64], and the standard 3-RRR, are selected as the case studies in this paper. The reasons for choosing these robots are as following:…”

Section: Examplesmentioning

confidence: 99%

Dynamic Models of Spherical Parallel Robots for Model-Based Control Schemes

Hassani,

Bataleblu,

Khalilpour

et al. 2021

Preprint

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In this paper, derivation of different forms of dynamic formulation of spherical parallel robots (SPRs) is investigated. These formulations include the explicit dynamic forms, linear regressor, and Slotine-Li (S-L) regressor, which are required for the design and implementation of the vast majority of model-based controllers and dynamic parameters identification schemes. To this end, the implicit dynamic of SPRs is first formulated using the principle of virtual work in task-space, and then by using an extension, their explicit dynamic formulation is derived. The dynamic equation is then analytically reformulated into linear and S-L regression form with respect to the inertial parameters, and by using the Gauss-Jordan procedure, it is reduced to a unique and closed-form structure. Finally, to illustrate the effectiveness of the proposed method, two different SPRs, namely, the ARAS-Diamond, and the 3-RRR, are examined as the case studies. The obtained results are verified by using the MSC-ADAMS ® software, and are shared to interested audience for public access.

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Section: Examplesmentioning

confidence: 99%

Dynamic Models of Spherical Parallel Robots for Model-Based Control Schemes

Hassani,

Bataleblu,

Khalilpour

et al. 2021

Preprint

Self Cite

View full text Add to dashboard Cite

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“…Other designs utilize parallel linkage combinations -such as the prior mentioned dual parallelogram -for planar rotation, followed by a rotary joint with its axis coinciding with the planar point of rotation [14,15]. A more recent conceptual design relies on curved linkages to provide two coupled rotations about an RCM [16]. These RCM mechanisms generally only provide rotations and therefore require the presence of an additional proximal actuator in close vicinity of the patient for providing the translational instrument DoF.…”

Section: Rcm Mechanisms For Robot-assisted Vitreoretinal Surgerymentioning

confidence: 99%

Synthesis and methodology for optimal design of a parallel remote center of motion mechanism: Application to robotic eye surgery

Smits

Reynaerts

Poorten

2020

Mechanism and Machine Theory

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This work reports on the synthesis of a parallel Remote Center of Motion (RCM) mechanism, and an optimized design for the use-case of robot-assisted vitreoretinal surgery. A 2-DoF planar RCM mechanism is proposed and synthesised as part of a 4-DoF RCM mechanism. The proposed design substantially reduces the occupied volume at the end-effector. This solves a major problem present in related state-of-the-art, which poses limitations on sterile end-effector design and surgical instrument compatibility. Subsequently, an optimal design algorithm is proposed and implemented for the given use-case. The workspace is determined within mechanism constraints, after which performance parameters such as workspace coverage, potential energy, manipulability, reflected stiffness are determined for specific areas of interest within a desired workspace. Subsequently, these parameters are combined in a score function identifying an optimal kinematic design. When compared with the closely-related prior art, the resulting design shows improvements in relevant workspace coverage, reduced gravity compensation effort, and more isotropic manipulability. Overall reflected stiffness is reduced and should be taken into account in future design phases. Future work includes the integration of the kinematic design into a detailed conceptual design and a first prototype development.

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“…The orientation of the surgery instrument in spherical coordinates is considered through c and / in which c is rotation of OD about the X axis, while / is rotation of AD arc about Z axis and it is measured with respect to ZX plane. 31 The achievable workspace for eye surgery provided by this mechanism is about �45…”

Section: Gravitational Term Identificationmentioning

confidence: 99%

“…To provide a backdrivable transmission mechanism with high accuracy and zero backlashes, the manipulator utilizes two capstan drives for both actuators that provide rotational motions. Kinematics formulation and the structure of the robot are presented in Molaei et al, 31 and the dynamic formulation of the manipulator may be achieved similar to what reported in Danaei et al 32 In this robot, actuators are selected after simulating the mathematical model of the robot using CAD parameters to calculate the required torques of each actuator. Furthermore, encoders are chosen so as the accuracy of about 100 � 10 �6 in the workspace is easily achievable.…”

Section: Introductionmentioning

confidence: 97%

Robust H∞-based control of ARAS-diamond: A vitrectomy eye surgery robot

Bataleblu

Khorrambakht

Taghirad

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, we investigate the challenges of controlling the ARAS-Diamond robot for robotic-assisted eye surgery. To eliminate the system’s inherent uncertainty effects on its performance, a cascade architecture control structure is proposed in this paper. For the inner loop of this structure, two different robust controls, namely, [Formula: see text] and μ-synthesis, with stability and performance analysis, are synthesized. The outer loop of the structure, on the other hand, controls the orientation of the surgical instrument using a well-tuned PD controller. The stability of the system as a whole, considering both inner and outer loop controllers, is analyzed in detail. Furthermore, implementation results on the real robot are presented to illustrate the effectiveness of the proposed control structure compared to that of conventional controller designs in the presence of inherent uncertainties of the system and external disturbances, and it is observed that using [Formula: see text] controller in the inner loop has superior robust performance.

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Kinematic and workspace analysis of DIAMOND: An innovative eye surgery robot

Cited by 22 publications

References 10 publications

Dynamic Models of Spherical Parallel Robots for Model-Based Control Schemes

Dynamic Models of Spherical Parallel Robots for Model-Based Control Schemes

Synthesis and methodology for optimal design of a parallel remote center of motion mechanism: Application to robotic eye surgery

Robust H∞-based control of ARAS-diamond: A vitrectomy eye surgery robot

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