TY - GEN
T1 - Kinematics analysis and motion planning of a redundant robotic manipulator for surgical intervention
AU - Liu, Quanquan
AU - Wang, Chunbao
AU - Zhang, Bo
AU - Duan, Lihong
AU - Zhang, Xin
AU - Sun, Tongyang
AU - Shang, Wanfeng
AU - Shen, Yajing
AU - Lin, Zhuohua
AU - Li, Xiaorui
AU - Li, Weiguang
AU - Li, Weiping
AU - Wang, Yulong
AU - Fujie, Masakatsu G.
AU - Wu, Zhengzhi
N1 - Funding Information:
Science and Technology Foundation of Guangdong, China (No.2016A020220001); Research Foundation of Beijing Advanced Innovation Center for Intelligent Robots and Systems(No. 2016IRS12 ), Technology Research Foundation of Basic Research Project of Shenzhen (JCYJ20170306170851910, JCYJ20160428110354308).
Funding Information:
ACKNOWLEDGEMENT The authors are sincerely thankful to the following financial support: China Postdoctoral Science Foundation (2017M612654), National Natural Science Foundation of China (61703282), Global COE (Centers of Excellence) program “Global Robot Academia”, from the Ministry of Education, Culture, Sports, Science and Technology of Japan;
Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - 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.
AB - 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.
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U2 - 10.1109/CBS.2017.8266064
DO - 10.1109/CBS.2017.8266064
M3 - Conference contribution
AN - SCOPUS:85050471555
T3 - 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
SP - 1
EP - 6
BT - 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
Y2 - 17 October 2017 through 19 October 2017
ER -