Abstract
In this paper, a parameter estimation method is proposed to predict the simultaneous joint dynamics of a surgical robotic arm that is tracking trajectories. It mainly deals with the design, modeling, prototyping and control of a serial robotic arm for robot-assisted urological surgery. This robot is composed of many joints mounted in series with the surgical tool end performing both a translational workspace and a cone-shaped orientation workspace. The joints dynamics is obtained by trajectory planning of the tool end in the virtual prototype modeling environment. The motor drive system is parameterized for design, and its comprehensive performance in motion is predicted accurately. The heterogeneous master–slave control system was built, and the performances of the master–slave prototype were experimentally evaluated by measuring the positioning error of the virtual fixed point and the surgical tool end along the planned trajectory.
Highlights
Robot-assisted surgery has many advantages over the traditional manual operation in the aspects of reduced injury, lower work intensity and precise implementation
It is difficult to keep the trajectory precision of an end-effector with such configuration at a high level. It had not been pushed into commercial use until the Senhance surgical robotic system was proposed for hysterectomy in obese patients and underwent clinical trials [6]
The configuration and kinematics of remote center motion (RCM) mechanisms influence the performance of the surgical robots and have to be given special attention [8,9]
Summary
Robot-assisted surgery has many advantages over the traditional manual operation in the aspects of reduced injury, lower work intensity and precise implementation. Since the size of the surgical robot largely depends on the volume of the RCM mechanism, novel RCM mechanisms characterized by compactness and light weight are proposed from time to time [10] Other drives such as cable pulley systems and configurations with flexible structures are considered by the researchers in this field in order to implement control action over the operation process precisely and achieve more flexible contact between the tool end and body tissue [11,12]. Another issue to be addressed in surgical robot design is operating parameter estimation.
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