Line-symmetric motion generators

Wu, Yuanqing; Carricato, Marco

doi:10.1016/j.mechmachtheory.2018.05.007

Cited by 5 publications

(4 citation statements)

References 30 publications

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“…The configuration has the following numerical values of the Study parameters [x 0 = 1, x 1 = 0, x 2 = 0, x 3 = 0, y 0 = 0, y 1 = −150, y 2 = −90, y 3 = 55] (relative to the fixed coordinate frame XYZ; to achieve this q 1 = 220 mm is a necessary condition). The inverse kinematics is computed from Equations (14), (16) and (18) with the numerical values for the Study parameters substituted in, yielding the numerical values for the active joint parameters [t 1 = −0.1343, w 1 = 0.0214, q 4 = 20.802 mm, q 5 = 180 mm] (solution describing the intended working mode for the Pro-Hep-LCT robotic system). Table 5 shows the initial configuration of the ultrasound probe (O at the entry-point) and two points A and B which are the end points of two simple tool paths (at 100 mm insertion depths).…”

Section: Numerical Results and Discussionmentioning

confidence: 99%

“…Analyzing the constraint equations for the Pro-Hep-LCT robotic system (Equations (14), (16) and (18)) it can be shown that the lower planar mechanism has four working modes, the upper planar mechanism has two working modes and even the end effector has four working modes (at least theoretically). For this reason, the geometry of the workspace is complex and the focus hereafter switches towards the operational workspace (the set of configurations intended for achieving the medical task).…”

Section: Pro-hep-lct Workpacementioning

confidence: 99%

“…Figure 6a illustrates the Cartesian positions of each computed point from the two paths whereas Figure 6b illustrates the active joint values changing over a period of 6 s (using linear interpolation) required for the specified paths. Lastly, Table 5 shows the numerical values of the active joint parameters for each ultrasound probe pose (computed by means of inverse kinematics using Equations (14), (16) and (18)). Figure 6 illustrates the discretization of the two paths of the ultrasound probe tip starting from a point O' (where the tool is in a vertical pose and inserted at a 100 mm depth) and ending at the points A and B respectively (with 30° angle values about X' and Y' axes respectively).…”

Section: Point Study Parametersmentioning

confidence: 99%

“…Line symmetric motion generators (which are sub manifold on the Study quadric) were presented in Ref. [14], showing their application in applications that require RCM.…”

Section: Introductionmentioning

confidence: 99%

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Complete Geometric Analysis Using the Study SE(3) Parameters for a Novel, Minimally Invasive Robot Used in Liver Cancer Treatment

et al. 2019

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The paper presents a complete geometric analysis of a novel parallel medical robotic system designed for minimally invasive treatment of hepatic tumors using brachytherapy, ablation or targeted chemotherapy. An algebraic method based on the study parameters of the special Euclidean transformation Lie group SE(3) was used to determine the mechanism kinematics singularities and workspace. Moreover, two particular medical tool manipulations for the minimally invasive medical procedures are defined in terms of the Study parameters. The first manipulation of the medical tool refers to the linear insertion (of e.g., needles) and the second one is the remote center of motion manipulation of specific medical instruments (e.g., ultrasound probes). The constraint equations of the robotic system are derived and then, the operational workspace is illustrated for the novel parallel robotic system. Lastly, a numerical simulation is presented showing the behavior of the robotic system manipulating the ultrasound probe constrained by the remote center of motion. The geometric analysis of the operational workspace and the numerical simulation show promising results that validate the novel robotic system (safe-wise) for the medical procedure.

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Section: Numerical Results and Discussionmentioning

confidence: 99%

Section: Pro-hep-lct Workpacementioning

confidence: 99%

Section: Point Study Parametersmentioning

confidence: 99%

“…Line symmetric motion generators (which are sub manifold on the Study quadric) were presented in Ref. [14], showing their application in applications that require RCM.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations