Development of robotic heart-beat simulator using parallel mechanism based on in vivo measurement

Kazutaka Toyoda, Jun Okamoto, Kaoru Okada, Takeshi Umeda, Kazuya Kawamura, Yo Kobayashi, Hirofumi Takemura, Masakatsu G. Fujie

Research output: Contribution to journalArticle

Abstract

In this study, we developed a robotic heartbeat simulator which is able to simulate a heartbeat for quantitative evaluation of availability and safety of the master-slave surgical robot system with heartbeat synchronization mechanism. We got a design specification of the robotic heartbeat simulator from in vivo measurement by using an experimental animal (pig). Based on the specification, we fixed a parallel mechanism link parameter of the robotic heartbeat simulator by genetic algorithm (GA). We measured the working space of the robotic heartbeat simulator and we confirmed that the robotic heartbeat simulator has the desired operating range. Furthermore, we conducted heartbeat simulation experiment by the developed robot. The results showed that a maximum value of cross-correlation function between desired trajectory and measured trajectory was 0.98-0.99 in x, y, z, roll and yaw axis, 0.89 in pitch axis. By this result, we revealed that the robotic heartbeat simulator has a high performance to simulate a heartbeat.

Original languageEnglish
Pages (from-to)1066-1078
Number of pages13
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume79
Issue number800
DOIs
Publication statusPublished - 2013
Externally publishedYes

Fingerprint

Robotics
Simulators
Trajectories
Specifications
Synchronization
Animals
Genetic algorithms
Availability
Robots
Experiments

Keywords

  • In vivo motion sensing
  • Ischemic cardiac disease
  • Motion simulator
  • Parallel mechanism

ASJC Scopus subject areas

  • Mechanical Engineering
  • Mechanics of Materials
  • Industrial and Manufacturing Engineering

Cite this

Development of robotic heart-beat simulator using parallel mechanism based on in vivo measurement. / Toyoda, Kazutaka; Okamoto, Jun; Okada, Kaoru; Umeda, Takeshi; Kawamura, Kazuya; Kobayashi, Yo; Takemura, Hirofumi; Fujie, Masakatsu G.

In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 79, No. 800, 2013, p. 1066-1078.

Research output: Contribution to journalArticle

Toyoda, Kazutaka ; Okamoto, Jun ; Okada, Kaoru ; Umeda, Takeshi ; Kawamura, Kazuya ; Kobayashi, Yo ; Takemura, Hirofumi ; Fujie, Masakatsu G. / Development of robotic heart-beat simulator using parallel mechanism based on in vivo measurement. In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C. 2013 ; Vol. 79, No. 800. pp. 1066-1078.
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