Three-Degrees-of-Freedom Passive Gravity Compensation Mechanism Applicable to Robotic Arm With Remote Center of Motion for Minimally Invasive Surgery

Kim, Changkyun; Chung, Deok Gyoon; Hwang, Mina; Cheon, Byungsik; Kim, Hansoul; Kim, Joonhwan; Kwon, Dong‐Soo

doi:10.1109/lra.2019.2926953

Cited by 32 publications

(8 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…He et al designed a novel RCM mechanism for a robot for retinal vascular bypass surgery [21]. Kim et al proposed a novel gravity-compensation mechanism using RCM mechanisms [22]. Unlike mechanical RCM, programmable RCM is realized by software and is more flexible.…”

Section: Introductionmentioning

confidence: 99%

A Robotic System with Robust Remote Center of Motion Constraint for Endometrial Regeneration Surgery

Wang

et al. 2022

Chin. J. Mech. Eng.

View full text Add to dashboard Cite

Surgical robots have been widely used in different procedures to improve and facilitate the surgery. However, there is no robot designed for endometrial regeneration surgery, which is a new therapy for restoring fertility in women using stem cells. Endometrial regeneration surgery requires processing of the endometrium and transplantation of stem cells with minimal trauma to the uterus. In this paper, we introduce a surgical robotic system that consists of a dexterous hysteroscope, supporting arm, and additional novel instruments to facilitate the operation and decrease trauma to the uterus. Remote center of motion (RCM) constraint is required to protect the cervix of the uterus. First, the supporting arm and hysteroscope are controlled separately in kinematics to ensure that the RCM constraint and hysteroscope’s shape and posture are predictable. Then, a task-decoupled method is used to improve the robustness of the RCM constraint. Experiments confirm that the proposed method is more robust and achieves higher RCM accuracy. In addition, the master-slave control of a robot with RCM constraint is also verified. This study proposes the realization of a robot with robust RCM control for endometrial regeneration surgery.

show abstract

Section: Introductionmentioning

confidence: 99%

A Robotic System with Robust Remote Center of Motion Constraint for Endometrial Regeneration Surgery

Wang

et al. 2022

Chin. J. Mech. Eng.

View full text Add to dashboard Cite

show abstract

“…He et al designed a novel remote center of motion mechanism for the robot of retinal vascular bypass surgery [19]. Kim et al propose a novel gravity compensation mechanism with RCM mechanisms [20]. Different with mechanical RCM, programmable RCM is realized by the software and is more flexible.…”

Section: Introductionmentioning

confidence: 99%

A Robotic System with Robust Remote Center Motion Constraint for Endometrial Regeneration Surgery

Li¹,

Wang²,

Wang³

et al. 2021

Preprint

View full text Add to dashboard Cite

Surgical robots have been widely used in various surgeries in order to improve and facilitate the surgeries. However, there is no robot intended for endometrial regeneration surgery which is a new therapy to restore women’s fertility by using stem cells. Endometrial regeneration surgery requires processing endometrium and transplanting stem cells with the minimal trauma to uterus. In this paper, we introduce a surgical robotic system which consists of a dexterous hysteroscope, a supporting arm and additional novel instruments to facilitate the operations and decrease trauma to the uterus. To protect the cervix of the uterus, remote center of motion (RCM) constraint is required. First, the supporting arm and the hysteroscope are controlled separately in kinematics in order to ensure that the RCM constraint and the hysteroscope’s shape and posture are predictable. Then, a task decoupled method is used to improve the robustness of the RCM constraint. The experiments show that our method is more robust and achieves higher accuracy of RCM. Besides, the master slave control of robot with RCM constraint is also verified.

show abstract

“…Richiedei and Trevisani 15 studied the relation between spring design and electric energy consumption in a spring balance system. Kim et al 16 proposed a gravity compensator that can adjust the compensation torque in the roll direction using a reduction gearbox and wire cable.…”

Section: Introductionmentioning

confidence: 99%

A host–parasite structural analysis of industrial robots

Wei

Cai

Gong

et al. 2020

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

Most driving torques in serial industrial robots are used to overcome the weight of the robot. Although actuators account for a large proportion of the total mass of a robot, they have yet to become a positive factor that enables the robot to achieve gravity balance. This study presents a host–parasite structure to reconstruct the distribution of actuators and achieve gravity balance in robots. First, based on the characteristics of tree–rattan mechanisms, a method for calculating the degrees of freedom and a symbolic representation method for the distribution of branched chains are formulated for host–parasite mechanisms. Second, a configuration analysis and optimization method for host–parasite structure-based robots and a robot prototype are presented. Finally, four host–parasite mechanisms/robots (A, B, C, and D) are compared. The results are as follows. If more parasitic branched chains are added to the yz plane, the loads along axes 2 and 3 become more balanced, which significantly increases the stiffnesses of the mechanism in the y- and z-directions ( Ky and Kz, respectively). If the additional branched chains are closer to the site of maximum deformation, the stiffness of the mechanism in the z-direction ( Kz) increases more significantly. Of the four mechanisms, mechanism D has the best overall performance. The joint torques of mechanism D along axes 2 and 3 are lower than those of mechanism A by 99.78% and 99.18%, respectively. In addition, Kx, Ky, and Kz of mechanism D are 100.56%, 336.19%, and 385.02% of those of mechanism A, respectively. Moreover, the first-order natural frequency of mechanism D is 135.94% of that of mechanism A. Host–parasitic structure is conducive to improving the performance of industrial robots.

show abstract

Three-Degrees-of-Freedom Passive Gravity Compensation Mechanism Applicable to Robotic Arm With Remote Center of Motion for Minimally Invasive Surgery

Cited by 32 publications

References 19 publications

A Robotic System with Robust Remote Center of Motion Constraint for Endometrial Regeneration Surgery

A Robotic System with Robust Remote Center of Motion Constraint for Endometrial Regeneration Surgery

A Robotic System with Robust Remote Center Motion Constraint for Endometrial Regeneration Surgery

A host–parasite structural analysis of industrial robots

Contact Info

Product

Resources

About