首页> 外文会议>IEEE International Conference on Power Electronics, Intelligent Control and Energy Systems >Kinematic control of an articulated minimally invasive surgical robotic arm
【24h】

Kinematic control of an articulated minimally invasive surgical robotic arm

机译:铰接式微创手术机械臂的运动控制

获取原文
获取外文期刊封面目录资料

摘要

The robotic arm used in minimally invasive surgery enters patient's body through a port which constrains its end-effector translation along two axes. We aim to achieve the minimally-invasive operations using a general articulated robotic arm (GARA). The algorithm is applicable to articulated robotic arm independent of its design; given only end-link is constrained. Geometric transformations based on the constraints acting on the end-link coupled with kinematic-relations obtained using conventional techniques, were used to drive a simulated 6-DOF GARA for minimally-invasive operations. The method was verified by tracing predefined planar and 3D trajectories using this simulated arm. The mean deviation of the traced trajectories was of the order of 10-03cm and the mean absolute error in maintaining remote center-of-motion (RCM) at the port was ~0 (<; 10-15 cm). The proposed method enabled a GARA to perform minimally-invasive operations without specialized design and with sufficient accuracy.
机译:在微创手术中使用的机器人臂通过端口进入患者的主体,该端口限制其沿两个轴的末端执行器平移。我们的目标是使用一般铰接式机器人(GARA)来实现最微创操作。该算法适用于铰接式机器人臂,独立于其设计;只有终端链接被约束。基于作用在结束链路上的约束的几何变换与使用常规技术获得的运动关系,用于驱动模拟的6-DOF Gara以进行微创操作。通过使用该模拟臂跟踪预定的平面和3D轨迹来验证该方法。追踪轨迹的平均偏差是10-03cm的顺序,并且在端口处保持远程运动中心(Rcm)的平均绝对误差为0(<; 10-15cm)。所提出的方法使得GARA能够在没有专业设计的情况下执行微创操作,并且具有足够的精度。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱:kefu@zhangqiaokeyan.com

京公网安备:11010802029741号 ICP备案号:京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有
  • 客服微信

  • 服务号