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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
Department机器人学研究室
Conference Name17th IEEE International Conference on Mechatronics and Automation, ICMA 2020
Conference DateOctober 13-16, 2020
Conference PlaceBeijing, China
Source Publication2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
PublisherIEEE
Publication PlaceNew York
2020
Pages1647-1652
Indexed ByEI
EI Accession number20204809539194
Contribution Rank1
ISBN978-1-7281-6415-1
KeywordRCM algorithm single-hole suspension arm 3D force dragging
AbstractThe 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
Identifierhttp://ir.sia.cn/handle/173321/27962
Collection机器人学研究室
Corresponding AuthorLiu H(刘浩)
Affiliation1.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.
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