Motion Analysis of a Robotic Assisted Surgery and Microsurgery System-Experimental Verification

摘要：

　　Motion analysis of a parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS) and the control structures enabling it to achieve milli/micromanipulations under the constraint of moving through a fixed penetration point or so-called remote centre-of-motion (RCM) are presented in this article.Two control algorithms are proposed suitable for minimally invasive surgery (MIS) with submillimeter accuracy and for minimally invasive micro-surgery (MIMS) with submicrometer accuracy.The RCM constraint is performed without having any mechanical constraint.Control algorithms also apply orientation constraint preventing the tip to orient relative to the soft tissues due to the robot movements.Experiments were conducted to verify accuracy and effectiveness of the proposed control algorithms for MIS and MIMS operations.The experimental results demonstrate accuracy and performance of the proposed position control algorithms.

关键词： Motion Control Parallel Robot Remote Centreof-Motion (RCM) Minimally Invasive Surgery (MIS) Minimally Invasive Micro-Surgery (MIMS)

作者: Mohsen Moradi Dalvand Bijan Shirinzadeh Yanding Qin Willem Schwalb Julian Smith Yongmin Zhong

作者单位: Department of Mechanical and Aerospace Engineering, Monash University, Melbourne, Australia Department of Surgery, Monash Medical Centre, Monash University, Melbourne, Australia School of Aerospace, Mechanical and Manufacturing Engineering, RMIT University, Melbourne, Australia

会议类型: 国际会议

会议名称: 第16届机电一体化技术国际会议

会议地点: 天津

会议语种:英文

页码: 398-403

在线出版日期: 2012-10-16（万方平台首次上网日期，不代表论文的发表时间）