Kinematics and dynamics analysis of a hybrid parallel-serial micromanipulator designed for biomedical applications

Nasseri, M. Ali; Eder, Maximilian; Eberts, D.; Nair, Suraj; Maier, Mathias; Zapp, Daniel; Lohmann, Chris P.; Knoll, Alois

doi:10.1109/aim.2013.6584107

Cited by 39 publications

(31 citation statements)

References 15 publications

(16 reference statements)

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“…Thus, active sclera force control enhances sclera force safety more than the other method without having the disadvantage of distracting the surgeon's attention. One drawback of the active sclera control is that the first two elementsẊ b d are not obeying the user's interaction force F h (according to (5)) which means the user does not have as much control over the robot's movements as compared to passive control method which has (4) as the governing control equations. However, the other last four elements ofẊ b d are still abiding by F h according to (5) which means the robot is mostly obeying the user commands rather than paying attention to the adaptive sclera force control.…”

Section: Resultsmentioning

confidence: 99%

“…In (4) the diagonal matrix K is set to be 7.5I where I is the identity matrix. In (5) and (6), the scalars α 1 , α 2 , Λ 1 are Λ 2 set to be 0.2, 0.2, 5 × 10 −6 and 5 × 10 −6 , respectively. To decide on the value of the parameter a in (7) we did some experiments to find an optimized value.…”

Section: Experimental Setup and Methodsmentioning

confidence: 99%

“…Decreasing the magnitude of both components of sclera force will result in decreasing the sclera force magnitude F s which has been the goal of active control of sclera force norm. To encapsulate, equation set (5) are used whenever the autonomous norm control of sclera force is switched on (instead of using (4)). The scalarẊ…”

Section: A Adaptive Force Controlmentioning

confidence: 99%

See 2 more Smart Citations

Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback

Ebrahimi

Patel

et al. 2019

2019 International Symposium on Medical Robotics (ISMR)

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Surgeon hand tremor limits human capability during microsurgical procedures such as those that treat the eye. In contrast, elimination of hand tremor through the introduction of microsurgical robots diminishes the surgeons tactile perception of useful and familiar tool-to-sclera forces. While the large mass and inertia of eye surgical robot prevents surgeon microtremor, loss of perception of small scleral forces may put the sclera at risk of injury. In this paper, we have applied and compared two different methods to assure the safety of sclera tissue during robot-assisted eye surgery. In the active control method, an adaptive force control strategy is implemented on the Steady-Hand Eye Robot in order to control the magnitude of scleral forces when they exceed safe boundaries. This autonomous force compensation is then compared to a passive force control method in which the surgeon performs manual adjustments in response to the provided audio feedback proportional to the magnitude of sclera force. A pilot study with three users indicate that the active control method is potentially more efficient.

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Section: Resultsmentioning

confidence: 99%

Section: Experimental Setup and Methodsmentioning

confidence: 99%

See 1 more Smart Citation

Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback

Ebrahimi

Patel

et al. 2019

2019 International Symposium on Medical Robotics (ISMR)

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“…Determining parameters of the generalized scattering transformation is a design problem and in this work, the search for the optimal parameters is carried out by using swarm optimization. The preliminary evaluation of the proposed approach for robotic eye surgery [11] considering the mechanical tissue characteristics of the human eye was performed. Master-Slave robot assisted eye surgery is one of the teleoperation areas which is affected the most from the system transparency.…”

Section: Introductionmentioning

confidence: 99%

Transparency optimized interaction in telesurgery devices via time-delayed communications

Mahdizadeh

Nasseri²,

Knoll

2014

2014 IEEE Haptics Symposium (HAPTICS)

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Low transparency is one of the major drawbacks of passivity-based control approaches in teleoperation systems, particularly when time delay exists in the communication channel. In this work, we improved the transparency of time-delayed teleoperation. For this, we used a passivity-based control approach with the generalized scattering transformation. To maximize a transparency criterion, the parameters of the generalized scattering transformation were optimized. Moreover, we show that communication channel disturbance attenuation is also improved. The proposed approach is validated on a master-slave robot interacting with an human eyeball model via a time delayed communication. Two classes of parameter sets are considered and compared against each other in sense of transparency and stability. Results verify a noticeable enhancement of transparency in stiffer environments by the proposed method.

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“…Definition of the desired RCM point is possible by this setup. It allows the surgeon to define and even move the pivoting point of the tool during the manipulation [15]. …”

Section: ) Eye Robotmentioning

confidence: 99%

Remote Center of Motion (RCM) Mechanisms for Surgical Operations

Aksungur¹

2015

Int J App Math Elt Comp

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Nowadays, surgical applications, entering the body through a small incision with laparoscopic procedures are performed and are expanding the use of robots for these operations. In existing systems, conventional robots are used for the body. Surgical procedure is carried out by a separate mechanism which is attached to the end of the robot and robot is used to positioning this mechanism. These mechanisms are called Remote Center of Motion (RCM) mechanism.In this paper, the literature on studies performed about the parallel, spherical and hybrid RCM mechanisms are examined and classified. IntroductıonThe purpose of the RCM mechanism, provide rotating around the incision point to prevent potential damage of the body tissue by the robot. Instruments enter through this incision point into the body with mechanical control and the robot works. For reasons such as robots in the operation field covering many places, the difficulty of controlling and maintenance the robot, focuses on fixing the RCM mechanisms to working area and direct drive. For this purpose, two different mechanisms profile as a parallel and spherical are developed. In addition, the spherical mechanisms are designed in two different profiles as serial and parallel. In the aforementioned method, mechanism is fixing either end of a robotic arm or directly to the working zone. For this reason, it can be said RCM point's position is fixed. However, although body structure during operation assumed to be constant, as a result of very small movements happen resulting from the organism's liveliness, for precision surgical applications, researchers tend to develop mechanisms as RCM point moving. For this purpose, Hybrid (Serial-Parallel) mechanisms have emerged. In the hybrid mechanisms, working around the RCM point performed by the serial module, shift the RCM point is performed by the parallel module. In this way, requiring very small linear movement and host rotate around incision point such as eye operations, surgical success is increases. Parallel RCM MechanismsAs well known, if a link is connected by a revolute joint at its end, all points excluding the axis of the revolute joint in this link are rotated around the axis. In this case, any point on the axis can be considered as a RCM point. This kind of RCM mechanisms is usually acted as a basic component of 2 degree of freedom (DOF) or multi-DOF RCM mechanisms because of its simple structure. The most familiar RCM mechanisms in applications are based on a parallelogram structure, which can easily compose 2-DOF RCM mechanisms. Fig. 1a-f shows a basic configuration of parallelogram-based RCM mechanisms. It is clearly shown that there exist redundant constraints in the EBCD loop. Thus by eliminating "E", "B", "C" and "D" redundant constraints, several other configurations can be derived, as shown sarpectively in Fig. 1b to 1e. In Fig. 1f, it is shown that "E" joint is completely removed. This kind of RCM mechanisms has many advantages such as a relatively large movement range, a simple structure, t...

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Kinematics and dynamics analysis of a hybrid parallel-serial micromanipulator designed for biomedical applications

Cited by 39 publications

References 15 publications

Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback

Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback

Transparency optimized interaction in telesurgery devices via time-delayed communications

Remote Center of Motion (RCM) Mechanisms for Surgical Operations

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