Kinematics analysis and motion planning of a redundant robotic manipulator for surgical intervention

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

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

1 Citation (Scopus)

Abstract

Robotic assisted technologies benefit surgeon for less workload via dexterous manipulation in minimally invasive surgeries (MIS). Redundant manipulator can provide sufficient dexterity and is potential to use in a confined and narrow workspace. We had designed a master-slave paediatric surgical assist robot, which consists of two symmetric slave arms with nine DOFs each for dexterous manipulation. This paper presents the kinematics computation of the redundant manipulator based on its geometrical structure, and then, a shape optimization algorithm is constructed to calculate the posture configuration along the redundant manipulator, subsequently, a collision avoidance algorithm is constructed to perform motion planning in a narrow workspace. The experiments were executed to validate the correctness of the derived inverse kinematics algorithm and the results demonstrated that the redundant manipulator is capable of performing dexterous manipulation with a positioning accuracy within 1.5 mm in a narrow surgical workspace.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-6
Number of pages6
ISBN (Electronic)9781538631942
DOIs
Publication statusPublished - 2017 Jul 2
Event2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017 - Beijing, China
Duration: 2017 Oct 172017 Oct 19

Publication series

Name2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
Volume2018-January

Other

Other2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
CountryChina
CityBeijing
Period17/10/1717/10/19

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Optimization

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