Screw theory based-design and tracking control of an endoscopic parallel manipulator for laparoscopic surgery

Khalil Ibrahim; Ahmed Ramadan; Mohamed Fanni; Yo Kobayashi; Ahmed Abo-Ismail; Masakatus G. Fujie

doi:10.1109/ICRA.2013.6630916

Screw theory based-design and tracking control of an endoscopic parallel manipulator for laparoscopic surgery

Khalil Ibrahim, Ahmed Ramadan, Mohamed Fanni, Yo Kobayashi, Ahmed Abo-Ismail, Masakatus G. Fujie

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Citations (Scopus)

Abstract

This paper deals with the design process and the dynamic control simulation of a new type of 4-DOFs parallel mechanism that can be used as an endoscopic surgical manipulator. The proposed mechanism, 2-PUU-2-PUS, is designed based on the parallel virtual chain concept and screw theory. Based on the structure analysis of the 4-DOF parallel mechanism, the inverse position equation is studied using the inverse analysis theory of kinematics. The design and the stress analysis of the mechanism are investigated using SolidWorks software. The virtual prototype of the parallel mechanism is constructed, and the dynamic simulation is performed using ADAMS™ software. The system model utilizing PID and PI controllers has been built using MATLAB software. A more realistic simulation in accordance with a given bending angle and point to point control is implemented by the use of both ADAMS/MATLAB softwares. The simulation results showed that this control method has solved the coordinate control for the 4-DOF parallel manipulator so that each output is feedback to the four driving rods. From the results, the tracking performance is achieved. Other control techniques, such as intelligent ones, are recommended to improve the tracking performance and reduce the numerical truncation error.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Pages	2491-2496
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2013.6630916
Publication status	Published - 2013
Event	2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe Duration: 2013 May 6 → 2013 May 10

Other

Other	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
City	Karlsruhe
Period	13/5/6 → 13/5/10

Keywords

Medical robotics
Parallel mechanisms
Tracjectory control
Virtual chain type synthesis method

ASJC Scopus subject areas

Software
Artificial Intelligence
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2013.6630916

Cite this

Ibrahim, K, Ramadan, A, Fanni, M, Kobayashi, Y, Abo-Ismail, A & Fujie, MG 2013, Screw theory based-design and tracking control of an endoscopic parallel manipulator for laparoscopic surgery. in Proceedings - IEEE International Conference on Robotics and Automation., 6630916, pp. 2491-2496, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, 13/5/6. https://doi.org/10.1109/ICRA.2013.6630916

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title = "Screw theory based-design and tracking control of an endoscopic parallel manipulator for laparoscopic surgery",

abstract = "This paper deals with the design process and the dynamic control simulation of a new type of 4-DOFs parallel mechanism that can be used as an endoscopic surgical manipulator. The proposed mechanism, 2-PUU-2-PUS, is designed based on the parallel virtual chain concept and screw theory. Based on the structure analysis of the 4-DOF parallel mechanism, the inverse position equation is studied using the inverse analysis theory of kinematics. The design and the stress analysis of the mechanism are investigated using SolidWorks software. The virtual prototype of the parallel mechanism is constructed, and the dynamic simulation is performed using ADAMS{\texttrademark} software. The system model utilizing PID and PI controllers has been built using MATLAB software. A more realistic simulation in accordance with a given bending angle and point to point control is implemented by the use of both ADAMS/MATLAB softwares. The simulation results showed that this control method has solved the coordinate control for the 4-DOF parallel manipulator so that each output is feedback to the four driving rods. From the results, the tracking performance is achieved. Other control techniques, such as intelligent ones, are recommended to improve the tracking performance and reduce the numerical truncation error.",

keywords = "Medical robotics, Parallel mechanisms, Tracjectory control, Virtual chain type synthesis method",

author = "Khalil Ibrahim and Ahmed Ramadan and Mohamed Fanni and Yo Kobayashi and Ahmed Abo-Ismail and Fujie, {Masakatus G.}",

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AU - Ramadan, Ahmed

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N2 - This paper deals with the design process and the dynamic control simulation of a new type of 4-DOFs parallel mechanism that can be used as an endoscopic surgical manipulator. The proposed mechanism, 2-PUU-2-PUS, is designed based on the parallel virtual chain concept and screw theory. Based on the structure analysis of the 4-DOF parallel mechanism, the inverse position equation is studied using the inverse analysis theory of kinematics. The design and the stress analysis of the mechanism are investigated using SolidWorks software. The virtual prototype of the parallel mechanism is constructed, and the dynamic simulation is performed using ADAMS™ software. The system model utilizing PID and PI controllers has been built using MATLAB software. A more realistic simulation in accordance with a given bending angle and point to point control is implemented by the use of both ADAMS/MATLAB softwares. The simulation results showed that this control method has solved the coordinate control for the 4-DOF parallel manipulator so that each output is feedback to the four driving rods. From the results, the tracking performance is achieved. Other control techniques, such as intelligent ones, are recommended to improve the tracking performance and reduce the numerical truncation error.

AB - This paper deals with the design process and the dynamic control simulation of a new type of 4-DOFs parallel mechanism that can be used as an endoscopic surgical manipulator. The proposed mechanism, 2-PUU-2-PUS, is designed based on the parallel virtual chain concept and screw theory. Based on the structure analysis of the 4-DOF parallel mechanism, the inverse position equation is studied using the inverse analysis theory of kinematics. The design and the stress analysis of the mechanism are investigated using SolidWorks software. The virtual prototype of the parallel mechanism is constructed, and the dynamic simulation is performed using ADAMS™ software. The system model utilizing PID and PI controllers has been built using MATLAB software. A more realistic simulation in accordance with a given bending angle and point to point control is implemented by the use of both ADAMS/MATLAB softwares. The simulation results showed that this control method has solved the coordinate control for the 4-DOF parallel manipulator so that each output is feedback to the four driving rods. From the results, the tracking performance is achieved. Other control techniques, such as intelligent ones, are recommended to improve the tracking performance and reduce the numerical truncation error.

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KW - Parallel mechanisms

KW - Tracjectory control

KW - Virtual chain type synthesis method

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Screw theory based-design and tracking control of an endoscopic parallel manipulator for laparoscopic surgery

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