Real-time PID control of a novel RCM mechanism designed and manufactured for use in laparoscopic surgery

Abstract

Purpose The purpose of this study is to design and manufacture a new remote center of motion (RCM) mechanism for use in laparoscopic surgical operations. In addition, obtaining the forward and inverse kinematic equations of the RCM mechanism and performing real-time position control with the Proportional–Integral–Derivative (PID) control method. Design/methodology/approach At the design stage, it is benefited from similar triangle rule. To obtain the kinematic equations in a simple way and facilitate control, two-fold displacement ratio is provided between the limbs where linear motion occurs. The rotation and displacement amounts required to move at the RCM point have been calculated by using the kinematic equations of the mechanism. Limb dimensions and motion limits are determined in the manner to avoid singularities and collisions. The x, y and z coordinates of the end effector have been defined as the reference point. Control of the mechanism was provided by PID control. To generate the user interface and control algorithm, MATLAB/Simulink real-time toolbox has been used. Four reference points were determined, control was performed and position error values were examined. MF634 Humusoft data acquisition card has been preferred to collect data from encoders. Findings A novel RCM mechanism has been designed and manufactured. Kinematic equations of this mechanism have been obtained. Position control of the cannula tip has been performed using PID control method for four different reference points. After settlement, maximum position error has been observed as 0.45 mm. Practical implications Structure of the designed mechanism is quite simple. Thus, costs are quite low. The operation area of the operator is widened by hanging the mechanism from the ceiling, so operational capability of health personnel is increasing. It helps to decrease the operation time and increase the success of the operation. Originality/value With this study, it is aimed to contribute to the literature by designing a new RCM mechanism. The rotation of the mechanism around the RCM point is provided by only one rotary motor, and the displacement of the RCM point in the vertical axis is provided by only one linear motor. The mechanism is also a surgical robot. The designed system is suitable for use in robot-assisted laparoscopic surgery in terms of maneuverability.

Search for Optimal Parameters in the Control Structure of a Surgical System for Soft Tissue Operations Based on In Vitro Experiments on Cardiovascular Tissue

“…The interactive fuzzy controller (PID) was used in [33]. Work [34] shows the control (PID) of a surgical robot with a mechanism (RCM).…”

Kinematics of a Novel Serial-Parallel, Compliant, Three-Legged Robot

“…The SPM is a 3-DOF orientation device and was examined in several works [3], [8], [13], [20], [38], [39], [40], [42], [43], [44], [45], [46], [51], [82] and was used in many applications [2], [18], [21], [27], [31], [36], [42], [46], [48], [49], [50], [55], [57], [58], [71], [72], [73], [74], [79], [83], [85]. Torque applied by the actuators in each of the three parallel linkages of the mechanism results in spherical rotation of the end-effector (EE) around the common centre point.…”

Model Predictive Trajectory Tracking Control of 2 DoFs SCARA Robot under External Force Acting to the Tip along the Trajectory

“…Evolutionary algorithms (EAs) have emerged as an alternative design technique for robot motion control applications [19] and [20]. Real-time sliding mode and PID control of triglide robot and RCM mechanism are presented in [21] and [22]. Abut and Soyguder [23] used the adaptive computed torque control method for real-time control of bilateral teleoperation system.…”