Development of a Control Algorithm for a Hybrid Structure Surgical Manipulator

Quanquan Liu, Lihong Duan, Bo Zhang, Xin Zhang, Tongyang Sun, Chunbao Wang, Qing Shi, Wanfeng Shang, Yajing Shen, Zhuohua Lin, Zhengzhi Wu, Weiguang Li, Masakatsu G. Fujie

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Minimally invasive techniques bring revolutionary progress in surgical manipulation via reduced incision, less blood loss and shorten hospital stay. Robotic assisted minimally invasive surgeries have not only benefited patient on further cosmetic surgical performance, but also surgeon on improved manipulability by flexible mechanism. In order to achieve necessary dexterity, we developed a multiple degree of freedoms (DOFs) manipulator for surgical assistance. The surgical manipulator consists of two serial bendable segments, and each bendable segment is composed of three parallel universal-joint based bending linkages. The parallel configuration in a single bendable segment can achieve Omni-bending orientation in space, and the hybrid structure enlarges manipulator's flexibility via redundancy mechanism. A shape optimization algorithm is proposed to construct the inverse kinematics of the redundancy structure. The bending experiments of the surgical manipulator to evaluate the positioning accuracy are performed, the experimental results demonstrated that the mean positioning error of the end effector is within 1.2 mm. It is capable of providing a solution for accurate manipulation of soft tissue.

Original languageEnglish
Title of host publication2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1665-1670
Number of pages6
ISBN (Print)9781538604892
DOIs
Publication statusPublished - 2018 Aug 24
Event7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017 - Honolulu, United States
Duration: 2017 Jul 312017 Aug 4

Publication series

Name2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017

Conference

Conference7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
CountryUnited States
CityHonolulu
Period17/7/3117/8/4

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Optimization

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