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

*この研究の対応する著者

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1-6
ページ数6
ISBN(電子版)9781538631942
DOI
出版ステータスPublished - 2017 7 2
イベント2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017 - Beijing, China
継続期間: 2017 10 172017 10 19

出版物シリーズ

名前2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
2018-January

Other

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

ASJC Scopus subject areas

  • 人工知能
  • 制御と最適化

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