Master–Slave Control of a Teleoperated Anthropomorphic Robotic Arm With Gripping Force Sensing

Gupta, Gourab Sen; Mukhopadhyay, Subhas Chandra; Messom, Chris; Demidenko, Serge

doi:10.1109/tim.2006.884393

Cited by 70 publications

(27 citation statements)

References 16 publications

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“…On the other hand, many robotic systems with motor-driven actuators have been developed. For example, robotic arms with actuation having multiple degrees-of-freedoms have been studied for decades; these robotic arms could be driven by cables 18 or directly by motors 19 . Most actuators contain mechanisms that have large size and complex structures.…”

mentioning

confidence: 99%

A multiple-shape memory polymer-metal composite actuator capable of programmable control, creating complex 3D motion of bending, twisting, and oscillation

Shen

Trabia

Stalbaum

et al. 2016

Sci Rep

113

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Development of biomimetic actuators has been an essential motivation in the study of smart materials. However, few materials are capable of controlling complex twisting and bending deformations simultaneously or separately using a dynamic control system. Here, we report an ionic polymer-metal composite actuator having multiple-shape memory effect, and is able to perform complex motion by two external inputs, electrical and thermal. Prior to the development of this type of actuator, this capability only could be realized with existing actuator technologies by using multiple actuators or another robotic system. This paper introduces a soft multiple-shape-memory polymer-metal composite (MSMPMC) actuator having multiple degrees-of-freedom that demonstrates high maneuverability when controlled by two external inputs, electrical and thermal. These multiple inputs allow for complex motions that are routine in nature, but that would be otherwise difficult to obtain with a single actuator. To the best of the authors’ knowledge, this MSMPMC actuator is the first solitary actuator capable of multiple-input control and the resulting deformability and maneuverability.

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mentioning

confidence: 99%

A multiple-shape memory polymer-metal composite actuator capable of programmable control, creating complex 3D motion of bending, twisting, and oscillation

Shen

Trabia

Stalbaum

et al. 2016

Sci Rep

113

View full text Add to dashboard Cite

show abstract

“…A flexible piezoresistive sensor (Flexiforce, Tekscan Inc., South Boston, MA, USA), which is widely used in medical applications, was used to measure the gripping force of the proposed surgical instrument. The Flexiforce has been demonstrated to possess linearity [ 31 ]. Six precision weights (50, 100, 200, 500, 1000, and 2000 g) were used to calibrate the Flexiforce and transform the unit of the Flexiforce’s output signal from voltage to Newton.…”

Section: Resultsmentioning

confidence: 99%

A development of assistant surgical robot system based on surgical-operation-by-wire and hands-on-throttle-and-stick

et al. 2016

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BackgroundRobot-assisted laparoscopic surgery offers several advantages compared with open surgery and conventional minimally invasive surgery. However, one issue that needs to be resolved is a collision between the robot arm and the assistant instrument. This is mostly caused by miscommunication between the surgeon and the assistant. To resolve this limitation, an assistant surgical robot system that can be simultaneously manipulated via a wireless controller is proposed to allow the surgeon to control the assistant instrument.MethodsThe system comprises two novel master interfaces (NMIs), a surgical instrument with a gripper actuated by a micromotor, and 6-axis robot arm. Two NMIs are attached to master tool manipulators of da Vinci research kit (dVRK) to control the proposed system simultaneously with patient side manipulators of dVRK. The developments of the surgical instrument and NMI are based on surgical-operation-by-wire concept and hands-on-throttle-and-stick concept from the earlier research, respectively. Tests for checking the accuracy, latency, and power consumption of the NMI are performed. The gripping force, reaction time, and durability are assessed to validate the surgical instrument. The workspace is calculated for estimating the clinical applicability. A simple peg task using the fundamentals of laparoscopic surgery board and an in vitro test are executed with three novice volunteers.ResultsThe NMI was operated for 185 min and reflected the surgeon’s decision successfully with a mean latency of 132 ms. The gripping force of the surgical instrument was comparable to that of conventional systems and was consistent even after 1000 times of gripping motion. The reaction time was 0.4 s. The workspace was calculated to be 8397.4 cm3. Recruited volunteers were able to execute the simple peg task within the cut-off time and successfully performed the in vitro test without any collision.ConclusionsVarious experiments were conducted and it is verified that the proposed assistant surgical robot system enables collision-free and simultaneous operation of the dVRK’s robot arm and the proposed assistant robot arm. The workspace is appropriate for the performance of various kinds of surgeries. Therefore, the proposed system is expected to provide higher safety and effectiveness for the current surgical robot system.

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“…Flexiforce is widely used for pressure measurement in medical applications, and its linearity has been demonstrated [25]. The gripper can be closed by the force generated by Newton’s 3rd law as the inflated catheter balloon pushes the outer shell.…”

Section: Preliminary Testmentioning

confidence: 99%

Pneumatic-type surgical robot end-effector for laparoscopic surgical-operation-by-wire

et al. 2014

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BackgroundAlthough minimally invasive surgery (MIS) affords several advantages compared to conventional open surgery, robotic MIS systems still have many limitations. One of the limitations is the non-uniform gripping force due to mechanical strings of the existing systems. To overcome this limitation, a surgical instrument with a pneumatic gripping system consisting of a compressor, catheter balloon, micro motor, and other parts is developed.MethodThis study aims to implement a surgical instrument with a pneumatic gripping system and pitching/yawing joints using micro motors and without mechanical strings based on the surgical-operation-by-wire (SOBW) concept. A 6-axis external arm for increasing degrees of freedom (DOFs) is integrated with the surgical instrument using LabVIEW® for laparoscopic procedures. The gripping force is measured over a wide range of pressures and compared with the simulated ideal step function. Furthermore, a kinematic analysis is conducted. To validate and evaluate the system’s clinical applicability, a simple peg task experiment and workspace identification experiment are performed with five novice volunteers using the fundamentals of laparoscopic surgery (FLS) board kit. The master interface of the proposed system employs the hands-on-throttle-and-stick (HOTAS) controller used in aerospace engineering. To develop an improved HOTAS (iHOTAS) controller, 6-axis force/torque sensor was integrated in the special housing.ResultsThe mean gripping force (after 1,000 repetitions) at a pressure of 0.3 MPa was measured to be 5.8 N. The reaction time was found to be 0.4 s, which is almost real-time. All novice volunteers could complete the simple peg task within a mean time of 176 s, and none of them exceeded the 300 s cut-off time. The system’s workspace was calculated to be 11,157.0 cm3.ConclusionsThe proposed pneumatic gripping system provides a force consistent with that of other robotic MIS systems. It provides near real-time control. It is more durable than the existing other surgical robot systems. Its workspace is sufficient for clinical surgery. Therefore, the proposed system is expected to be widely used for laparoscopic robotic surgery. This research using iHOTAS will be applied to the tactile force feedback system for surgeon’s safe operation.

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Master–Slave Control of a Teleoperated Anthropomorphic Robotic Arm With Gripping Force Sensing

Cited by 70 publications

References 16 publications

A multiple-shape memory polymer-metal composite actuator capable of programmable control, creating complex 3D motion of bending, twisting, and oscillation

A multiple-shape memory polymer-metal composite actuator capable of programmable control, creating complex 3D motion of bending, twisting, and oscillation

A development of assistant surgical robot system based on surgical-operation-by-wire and hands-on-throttle-and-stick

Pneumatic-type surgical robot end-effector for laparoscopic surgical-operation-by-wire

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