scholarly journals Solving the Time-Varying Inverse Kinematics Problem for the Da Vinci Surgical Robot

2019 ◽  
Vol 9 (3) ◽  
pp. 546 ◽  
Author(s):  
Long Bai ◽  
Jianxing Yang ◽  
Xiaohong Chen ◽  
Pei Jiang ◽  
Fuqiang Liu ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Da Vinci ◽  
Newton Iteration ◽  
Surgical Robot ◽  
Unitary Matrix ◽  
Surgical Robots ◽  
Unknown Variable ◽  
Inverse Kinematics Problem ◽  
Da Vinci Surgical Robot ◽  
Order Nonlinear Equation

A dialytic-elimination and Newton-iteration based quasi-analytic inverse kinematics approach is proposed for the 6 degree of freedom (DOF) active slave manipulator in the Da Vinci surgical robot and other similar systems. First, the transformation matrix-based inverse kinematics model is derived; then, its high-dimensional nonlinear equations are transformed to a high-order nonlinear equation with only one unknown variable by using the dialytic elimination with a unitary matrix. Finally, the quasi-analytic solution is eventually obtained by the Newton iteration method. Simulations are conducted, and the result show that the proposed quasi-analytic approach has advantages in terms of accuracy (error < 0.00004 degree (or mm)), solution speed (< 20 ms) and is barely affected by the singularity during intermediate calculations, which proves that the approach meets the real-time and high-accuracy requirements of master‒slave mapping control for the Da Vinci surgical robots and other similar systems. In addition, the proposed approach can also serve as a design reference for other types of robotic arms that do not satisfy the Pieper principle.

scholarly journals Development & Evaluation of Virtual Reality (VR) based Novel Vision System for the da Vinci Surgical Robot

2020 ◽  
Author(s):  
Gyeongbin Mun ◽  
Young Gyun Kim ◽  
Myungjoon Kim ◽  
Byoungjun Jeon ◽  
Seong-Ho Kong ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Da Vinci ◽  
Vision System ◽  
Surgical Robot ◽  
Robot System ◽  
Task Load ◽  
Head Mounted Display ◽  
Da Vinci Surgical Robot ◽  
Conventional Open Surgery ◽  
Transfer Tasks

Abstract Background: Robot surgery has become prevalent because of its various advantages as a progressive method based on empirical researches of conventional open surgery and minimally invasive surgery. However, the da Vinci surgical robot system, the most widely used and researched surgical robot, still requires an ergonomic improvement because of the uncomfortable posture in which it has to be operated. The stereo viewer—the current vision system of the da Vinci surgical robot—requires a user to maintain a posture wherein the user is looking down, which causes discomfort and results in musculoskeletal disorders. To overcome this limitation, a virtual reality (VR) head-mounted display (HMD) is proposed by previous researchers as an appropriate option to replace the stereo viewer, as it enables surgeons to move freely during surgery instead of having to look down on the stereo viewer. Presently, there is no direct comparison between the stereo viewer and a VR HMD by surgeons. Comparative evaluations were performed using peg transfer tasks, a questionnaire, and a NASA-Task Load Index (TLX). These were planned and performed by surgeons and novices to determine if the stereo viewer can be replaced by the VR HMD and to investigate whether the VR HMD has ergonomic.Results: Based on the results of peg transfer tasks, completion times when using VR HMD were shorter than those when using the stereo viewer. In these tasks, the participants performed more executions using the VR HMD compared to the stereo viewer. Based on the questionnaire, the participants favored the VR HMD compared to the stereo viewer, with respect to its visual and ergonomic performance. The modified NASA-TLX showed positive perceptions for the VR HMD.Conclusions: This comparative evaluation confirmed that the VR HMD can be employed as a potential alternative for the stereo viewer in a surgical robot system to achieve ergonomic improvements. The VR HMD improved the task performance of the surgical robot system, and it provided an ergonomic operation environment.

A Mental Workload Study on the 2d and 3d Viewing Conditions of the da Vinci Surgical Robot

2009 ◽  
Author(s):  
Martina I. Klein ◽  
Cindy H. Lio ◽  
Russel Grant ◽  
Meldoy Carswell ◽  
Stephen Strup
Keyword(s):  
Da Vinci ◽  
Mental Workload ◽  
Surgical Robot ◽  
Da Vinci Surgical Robot ◽  
2D And 3D

Clinical Applications of da Vinci Surgical Robot for Head and Neck Surgery

2011 ◽  
Vol 62 (2) ◽  
pp. 120-121
Author(s):  
H. Ito ◽  
A. Shimizu ◽  
M. Suzuki ◽  
T. Kondo ◽  
K. Tsukahara ◽  
...  
Keyword(s):  
Head And Neck ◽  
Da Vinci ◽  
Neck Surgery ◽  
Clinical Applications ◽  
Head And Neck Surgery ◽  
Surgical Robot ◽  
Da Vinci Surgical Robot

3D Modeling and Closed-Form Inverse Kinematics Solution for 6dof Surgical Robot

2013 ◽  
Vol 455 ◽  
pp. 533-538
Author(s):  
Edris Farah ◽  
Shao Gang Liu
Keyword(s):  
Closed Form ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Closed Form Solution ◽  
Inverse Kinematic ◽  
Form Solution ◽  
Surgical Robot ◽  
Decoupling Method ◽  
Six Degrees Of Freedom ◽  
Inverse Kinematics Problem

Since robots began to inter the medical fields, more research efforts and more attention have been given to this kind of robots. In this paper six degrees of freedom surgical robot was studied. The Denavit-Hartenberg parameters of the robot have been computed and 3D model has been built by using open source robotics toolbox. The paper also discussed a closed form solution for the inverse kinematics problem by using inverse kinematic decoupling method.

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