Motion Control of a Master–Slave Minimally Invasive Surgical Robot Based on the Hand-Eye-Coordination

2016 ◽  
pp. 57-71 ◽  
Author(s):  
Aolin Tang ◽  
Qixin Cao ◽  
Hongbing Tan ◽  
Masakatsu G. Fujie ◽  
Tiewen Pan
Keyword(s):  
Minimally Invasive ◽  
Motion Control ◽  
Surgical Robot ◽  
Minimally Invasive Surgical ◽  
Hand Eye Coordination

Kinematic Design of a Novel Spatial Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot

2015 ◽  
Vol 9 (1) ◽  
Author(s):  
Jianmin Li ◽  
Yuan Xing ◽  
Ke Liang ◽  
Shuxin Wang
Keyword(s):  
Minimally Invasive ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Point Of View ◽  
Surgical Robot ◽  
Main Body ◽  
Minimally Invasive Surgical ◽  
Surgical Tool ◽  
Movable Platform ◽  
Robotic Wrist

To deliver more value to the healthcare industry, a specialized surgical robot is needed in the minimally invasive surgery (MIS) field. To fill this need, a compact hybrid robotic wrist with four degrees of freedom (DOFs) is developed for assisting physicians to perform MIS. The main body of the wrist is a 2DOF parallel mechanism with a remote center-of-motion (RCM), which is located outside the mechanism. From the mechanical point of view, it is different from existing 2DOF spherical mechanisms, since there is no physical constraint on the RCM. Other DOFs of the wrist are realized by a revolute joint and a prismatic joint, which are serially mounted on the movable platform of the parallel mechanism. The function of these DOFs is to realize the roll motion and the in-out translation of the surgical tool. Special attention is paid to the parallel RCM mechanism. The detailed design is provided and the kinematic equations are obtained in the paper. Further, the Jacobian matrix is derived based on the kinematic equations. Finally, the paper examines the singularity configurations and implements the condition number analysis to identify the kinematic performance of the mechanism.

scholarly journals Implementation of fixed point of minimally invasive surgical robot: a survey

2021 ◽  
Vol 0 (1) ◽  
pp. 2020003-0
Author(s):  
Lianjie GUO ◽  
◽  
◽  
Hu SHI ◽  
Xuesong MEI
Keyword(s):  
Fixed Point ◽  
Minimally Invasive ◽  
Surgical Robot ◽  
Minimally Invasive Surgical

Development of new cable-driven minimally invasive surgical robot

2019 ◽  
Vol 13 (3) ◽  
pp. 324 ◽  
Author(s):  
Longwang Yue ◽  
Kong Fah Tee ◽  
Baoguo Liu ◽  
Tengfei Feng
Keyword(s):  
Minimally Invasive ◽  
Surgical Robot ◽  
Minimally Invasive Surgical

1P1-C04 Development of a Minimally Invasive Surgical Robot using a Parallel Link Mechanism

2008 ◽  
Vol 2008 (0) ◽  
pp. _1P1-C04_1-_1P1-C04_2
Author(s):  
Junichi IKEMOTO ◽  
Jumpei ARATA ◽  
Masamichi SAKAGUCHI ◽  
Hideo FUJIMOTO
Keyword(s):  
Minimally Invasive ◽  
Surgical Robot ◽  
Minimally Invasive Surgical ◽  
Link Mechanism ◽  
Parallel Link

1P1-I10 Development of a Minimally Invasive Surgical Robot using a Parallel Link Mechanism

2007 ◽  
Vol 2007 (0) ◽  
pp. _1P1-I10_1-_1P1-I10_2
Author(s):  
Jumpei ARATA ◽  
Kensuke YAMAZAKI ◽  
Junichi IKEMOTO ◽  
Masamichi SAKAGUCHI ◽  
Hideo FUJIMOTO
Keyword(s):  
Minimally Invasive ◽  
Surgical Robot ◽  
Minimally Invasive Surgical ◽  
Link Mechanism ◽  
Parallel Link
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