scholarly journals Aiming a Surgical Laser With an Active Cannula

2009 ◽  
Vol 3 (2) ◽  
Author(s):  
D. C. Rucker ◽  
J. M. Croom ◽  
R. J. Webster
Keyword(s):  
Inverse Kinematics ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Outer Diameter ◽  
Laser Guidance ◽  
Wide Range ◽  
Surgical Device ◽  
Position And Orientation ◽  
Input Motion ◽  
Beam Mechanics

An active cannula is a surgical device capable of dynamically changing its curved shape in response to rotation and translation of the several precurved, concentric, superelastic tubes from which it is made. As the tubes move with respect to one another in response to input motion at their bases (outside the patient), they elastically interact, causing one another to bend. This bending can be harnessed to direct the cannula through winding trajectories within the human body. An active cannula has the potential to perform a wide range of surgical tasks, and it is especially well suited for guiding and aiming an optical fiber (e.g. BeamPath from OmniGuide, Inc.) for laser ablation. Controlling the trajectory of the laser requires control of the shape of the active cannula, and in particular the position and orientation of its tip. Prior work has shown that beam mechanics can be used to describe the shape of the cannula, given the translations and axial angles of each tube base. Here, in order to aim the laser, we invert this relationship (obtaining the “inverse kinematic”), solving for the translations and axial angles of each tube, given a desired position and orientation of the cannula tip. Experimental evaluation of inverse kinematics was carried out using a prototype consisting of three tubes. The outermost tube is straight and rigid (stainless steel), with an outer diameter (OD) of 2.4 mm. The 1.8 mm OD middle tube is superelastic Nitinol, with a preshaped circular tip. The 1.4 mm OD innermost tube is Nitinol and is not precurved, representing the straight trajectory of a laser emanating from the tip of the cannula. We assessed the accuracy of the inverse kinematics by computing the necessary tube translations and rotations needed to direct the beam of the “laser” to sequential locations along a desired trajectory consisting of two line segments that meet at a corner. These inputs were then applied at tube bases to direct the laser to thirty points along the trajectory on a flat surface 100 mm away the cannula base. The position of the tip of the simulated laser was measured using an optical tracker (Micron Tracker H3-60, Claron, Inc.). Mean error between desired and actual positions was 3.1 mm (maximum 5.5 mm). This experiment demonstrates proof of concept for laser guidance, and establishes the accuracy of the inverse kinematic model. We note that these results are applicable to guidance of a wide range of medical devices in addition to lasers. Relevant references, as well as images of our prototype and experimental data described here can be found in an online version of this abstract at http://research.vuse.vanderbilt.edu/MEDLab/. This work was supported by NSF grant #0651803, and NIH grant #1R44CA134169-01A1.

A Model of the Human Spine: Forward and Inverse Kinematics

1992 ◽  
Author(s):  
Sunil Kumar Agrawal ◽  
Siyan Li ◽  
Glen Desmier
Keyword(s):  
Range Of Motion ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Joint Angles ◽  
Human Spine ◽  
Forward And Inverse Kinematics ◽  
Position And Orientation ◽  
Three Degrees Of Freedom ◽  
Adjacent Vertebra

Abstract The human spine is a sophisticated mechanism consisting of 24 vertebrae which are arranged in a series-chain between the pelvis and the skull. By careful articulation of these vertebrae, a human being achieves fine motion of the skull. The spine can be modeled as a series-chain with 24 rigid links, the vertebrae, where each vertebra has three degrees-of-freedom relative to an adjacent vertebra. From the studies in the literature, the vertebral geometry and the range of motion between adjacent vertebrae are well-known. The objectives of this paper are to present a kinematic model of the spine using the available data in the literature and an algorithm to compute the inter vertebral joint angles given the position and orientation of the skull. This algorithm is based on the observation that the backbone can be described analytically by a space curve which is used to find the joint solutions..

scholarly journals Analytical inverse kinematics for 5-DOF humanoid manipulator under arbitrarily specified unconstrained orientation of end-effector

Robotica ◽  
2014 ◽  
Vol 33 (4) ◽  
pp. 747-767 ◽  
Author(s):  
Masayuki Shimizu
Keyword(s):  
Analytical Method ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Singularity Analysis ◽  
Inverse Kinematic ◽  
Inverse Kinematic Problem ◽  
Target Orientation ◽  
End Effector ◽  
Position And Orientation

SUMMARYThis paper proposes an analytical method of solving the inverse kinematic problem for a humanoid manipulator with five degrees-of-freedom (DOF) under the condition that the target orientation of the manipulator's end-effector is not constrained around an axis fixed with respect to the environment. Since the number of the joints is less than six, the inverse kinematic problem cannot be solved for arbitrarily specified position and orientation of the end-effector. To cope with the problem, a generalized unconstrained orientation is introduced in this paper. In addition, this paper conducts the singularity analysis to identify all singular conditions.

scholarly journals Analysis of Open Architecture 6R Robot Forward and Inverse Kinematics Adaptive to Structural Variations

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Chong Wang ◽  
Dongxue Liu ◽  
Qun Sun ◽  
Tong Wang
Keyword(s):  
Inverse Kinematics ◽  
Industrial Robot ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Open Architecture ◽  
Model Parameters ◽  
Structural Variations ◽  
Robot Controller ◽  
Kinematic Models ◽  
Kinematic Studies

This paper presents a kinematic analysis for an open architecture 6R robot controller, which is designed to control robots made by domestic manufactures with structural variations. Usually, robot kinematic studies are often introduced for specific robot types, and therefore, difficult to apply the kinematic model from one to another robot. This study incorporates most of the robot structural variations in one model so that it is convenient to switch robot types by modifying model parameters. By combining an adequate set of parameters, the kinematic models, especially the inverse kinematics, are derived. The kinematic models are proved to be suitable for many classic industrial robot types, such as Puma560, ABB IRB120/1600, KAWASAKI RS003N/RS010N, FANUC M6iB/M10iA, and therefore be applicable to those with similar structures. The analysis and derivation of the forward and inverse kinematic models are presented, and the results are proven to be accurate.

On the Placement of Serial Manipulators

2000 ◽  
Author(s):  
Karim Abdel-Malek ◽  
Wei Yu
Keyword(s):  
Cost Function ◽  
Inverse Kinematics ◽  
Inverse Kinematic ◽  
Working Environment ◽  
Robot Arm ◽  
Serial Manipulators ◽  
Surface Patches ◽  
Numerical Formulation ◽  
Fixed Reference ◽  
Position And Orientation

Abstract Criteria and implementation for the placement robot manipulators with the objective to reach specified target points are herein addressed. Placement of a serial manipulator in a working environment is characterized by defining the position and orientation of the manipulator’s base with respect to a fixed reference frame. The problem has become of importance in both the medical and manufacturing fields, where a robot arm must be appropriately placed with respect to targets that cannot be moved. A broadly applicable numerical formulation is presented. While other methods have used inverse kinematics solutions in their formulation for defining a locality for the manipulator base, this type of solution is difficult to implement because of the inherent complexities in determining al inverse kinematic solutions. The approach taken in this work is based on characterizing the placement forcing a cost function to impel the workspace envelope in terms of surface patches towards the target points and subject to functionality constraints, but that does not require the computation of inverse kinematics. The formulation and experimental code are demonstrated using a number of examples.

Design and Analysis of 3R2T and 3R3T Parallel Mechanisms With High Rotational Capability

2015 ◽  
Vol 8 (1) ◽  
Author(s):  
Congzhe Wang ◽  
Yuefa Fang ◽  
Sheng Guo
Keyword(s):  
Inverse Kinematics ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Velocity Analysis ◽  
Parallel Mechanisms ◽  
Workspace Analysis ◽  
Moving Platform ◽  
Displacement Theory ◽  
Lie Subgroup ◽  
Orientation Workspace

This paper describes the design, kinematics, and workspace analysis of 3R2T and 3R3T parallel mechanisms (PMs) with large rotational angles about three axes. Since the design of PMs with high rotational capability is still a challenge, we propose the use of a new nonrigid (or articulated) moving platform with passive joints in order to reduce the interference between limbs and the moving platform. According to the proposed nonrigid platform and Lie subgroup of displacement theory, several 3R2T and 3R3T PMs are presented. Subsequently, the inverse kinematics and velocity analysis of one of the proposed mechanisms are detailed. Based on the derived inverse kinematic model, the constant-orientation workspace is computed numerically. Then, the analysis of rotational capability about the three axes is performed. The result shows that even if interference and singularity are taken into account, the proposed mechanisms still reveal the high continuously rotational capability about the three axes, by means of actuation redundancy.

scholarly journals Robot Forward and Inverse Kinematics Research using Matlab

2019 ◽  
Vol 8 (2S3) ◽  
pp. 29-35
Keyword(s):  
Inverse Kinematics ◽  
Twist Angle ◽  
Inverse Kinematic ◽  
Forward Kinematics ◽  
Joint Angles ◽  
Link Length ◽  
Matlab Program ◽  
Kinematic Models ◽  
Position And Orientation ◽  
End Effectors

The joint arrangement of every robot can be described by the Denavit Hardenberg parameters. These parameters are enough to obtain a working of the robot described and Presented is a Matlab program which modelled Sorbet era 5u pluse given a set of corresponding DH parameters. The prim aim of this paper is to develop forward and inverse kinematic models of Sorbet era 5u plus using Matlab GUI in order to optimize the manipulative task execution. Forward kinematics analysis is done for the flexible twist angle, link lengths, and link offsets of each joints by varying joint angles to specify the position and orientation of the end effectors. Forward analysis can be used to provide the position of some point on the end effectors together with the orientation of the end effectors measured relative to a coordinate system fixed to ground for a specified set of joint variables. This simulation allows the user to get forward kinematics and inverse kinematics of Scorbot era 5u Plus of the modelled robot in various link length parameters and joint angles and corresponding end effectors position and orientation is going to validate with Rob cell software and compared with Lab view measured values.

Steerability and Kinematics of Bevel-Tip Flexible Needle

2015 ◽  
Author(s):  
Dedong Gao ◽  
Yong Lei ◽  
Bin Yao ◽  
Qiang Li ◽  
Huiquan Bai
Keyword(s):  
Inverse Kinematics ◽  
Kinematic Model ◽  
Needle Insertion ◽  
The Body ◽  
Body Frame ◽  
Kinematic Equation ◽  
Solution Sets ◽  
Medical Diagnoses ◽  
Needle Deflection ◽  
Position And Orientation

Steerable flexible needles with bevel-tip are designed for many medical diagnoses and treatments. In this paper we present a new kinematic model for the bevel-tip flexible needle. Based on the analysis of needle deflection, the procedure of needle insertion can be decomposed of n sub-procedures, which are independent on the depth of insertion. In each sub-procedure, the tip is steered though the base to generate three motions with respect to the body-frame Oxiyizi: the rotation about zi, the translation along zi and the rotation about yi. The kinematics of flexible needle with bevel-tip is presented using the Denavit-Hartenberg method. The inverse kinematics of needle insertion is derived from the kinematic equation of flexible needle. The solution sets are discussed for the insertion consisting of consecutive rotation and insertion control actions. Furthermore, how to select suitable insertion position and orientation is discussed.

Human arm kinematics for robot based rehabilitation

Robotica ◽  
2005 ◽  
Vol 24 (3) ◽  
pp. 377-383 ◽  
Author(s):  
Matjaž Mihelj
Keyword(s):  
Virtual Reality ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Hand Position ◽  
Empirical Validation ◽  
Upper Arm ◽  
Radial Acceleration ◽  
Rehabilitation Robots ◽  
Human Arm ◽  
Position And Orientation

The paper considers a technique for computation of the inverse kinematic model of the human arm for robot based rehabilitation that uses measurements of the hand position and orientation and radial acceleration of the upper arm. Analytical analysis and empirical validation of the method are presented. The algorithm enables estimation of human arm angles, which can be used in trajectory planning for rehabilitation robots, evaluation of motion of patients with movement disorders, and generation of virtual reality environments.

scholarly journals Kinematics Analysis of 6-DoF Articulated Robot with Spherical Wrist

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Seemal Asif ◽  
Philip Webb
Keyword(s):  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Kinematics Analysis ◽  
Inverse Kinematic Problem ◽  
Model Study ◽  
Spherical Wrist ◽  
Forward And Inverse Kinematics ◽  
Articulated Robot

The aim of the paper is to study the kinematics of the manipulator. The articulated robot with a spherical wrist has been used for this purpose. The Comau NM45 Manipulator has been chosen for the kinematic model study. The manipulator contains six revolution joints. Pieper’s approach has been employed to study the kinematics (inverse) of the robot manipulator. Using this approach, the inverse kinematic problem is divided into two small less complex problems. This reduces the time of analysing the manipulator kinematically. The forward and inverse kinematics has been performed, and mathematical solutions are detailed based on D-H (Denavit–Hartenberg) parameters. The kinematics solution has been verified by solving the manipulator’s motion. It has been observed that the model is accurate as the motion trajectory was smoothly followed by the manipulator.

Kinematics Modeling of a Notched Continuum Manipulator

2015 ◽  
Vol 7 (4) ◽  
Author(s):  
Zhijiang Du ◽  
Wenlong Yang ◽  
Wei Dong
Keyword(s):  
Curve Fitting ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Forward Kinematics ◽  
Kinematics Modeling ◽  
Continuum Manipulators ◽  
Continuum Manipulator ◽  
The Continuum

In this paper, the kinematics modeling of a notched continuum manipulator is presented, which includes the mechanics-based forward kinematics and the curve-fitting-based inverse kinematics. In order to establish the forward kinematics model by using Denavit–Hartenberg (D–H) procedure, the compliant continuum manipulator featuring the hyper-redundant degrees of freedom (DOF) is simplified into finite discrete joints. Based on that hypothesis, the mapping from the discrete joints to the distal position of the continuum manipulator is built up via the mechanics model. On the other hand, to reduce the effect of the hyper-redundancy for the continuum manipulator's inverse kinematic model, the “curve-fitting” approach is utilized to map the end position to the deformation angle of the continuum manipulator. By the proposed strategy, the inverse kinematics of the hyper-redundant continuum manipulator can be solved by using the traditional geometric method. Finally, the proposed methodologies are validated experimentally on a triangular notched continuum manipulator which illustrates the capability and the effectiveness of our proposed kinematics for continuum manipulators and also can be used as a generic method for such notched continuum manipulators.

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