| A Novel Remote Center of Motion Algorithm Based on 3D Force Dragging for Minimally Invasive Surgical Robot | |
Zhao JQ(赵锦强)1,2,3; Zhou YY(周圆圆)2,3,4 ; Guo MQ(郭明全)2,3,4; Yu T(于涛)2,3,4; Zhang, Hua1; Liu H(刘浩)2,3,4
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| Department | 机器人学研究室 |
| Conference Name | 17th IEEE International Conference on Mechatronics and Automation, ICMA 2020 |
| Conference Date | October 13-16, 2020 |
| Conference Place | Beijing, China |
| Source Publication | 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020 |
| Publisher | IEEE |
| Publication Place | New York |
| 2020 | |
| Pages | 1647-1652 |
| Indexed By | EI |
| EI Accession number | 20204809539194 |
| Contribution Rank | 1 |
| ISBN | 978-1-7281-6415-1 |
| Keyword | RCM algorithm single-hole suspension arm 3D force dragging |
| Abstract | The kinematics analysis and simulation of remote center of motion (RCM) are very crucial issues for minimally invasive surgical robots. RCM increases the working space of surgical instruments and improves the flexibility of surgical operations. In this paper, a novel single-hole minimally invasive surgical robot suspension arm configuration is proposed by analyzing the constraints of RCM, which has 6 degrees of freedom, and a corresponding RCM algorithm is designed based on 3D force dragging. External force is applied to the 3D force sensor installed at the end of the robotic arm, and the algorithm is applied to achieve the RCM of the surgical instrument. The designed simulation experiments evaluate the accuracy and effectiveness of the algorithm. Compared with independently designing RCM mechanism, it is simpler and more general that the method of implementing RCM through kinematic constraints. |
| Language | 英语 |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/27962 |
| Collection | 机器人学研究室 |
| Corresponding Author | Liu H(刘浩) |
| Affiliation | 1.Shenyang Ligong University, Mechatronic Engineering, Shenyang, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China 4.Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, China |
| Recommended Citation GB/T 7714 | Zhao JQ,Zhou YY,Guo MQ,et al. A Novel Remote Center of Motion Algorithm Based on 3D Force Dragging for Minimally Invasive Surgical Robot[C]. New York:IEEE,2020:1647-1652. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| A Novel Remote Cente（320KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Application Full Text | ||
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