Abstract
This paper deals with a special architecture of Spherical Parallel Manipulators (SPMs) designed to be a haptic device for a medical tele-operation system. This architecture is obtained by replacing the kinematic of one leg of a classical 3-RRR SPM (R for revolute joint). The Forward Kinematic Model (FKM) is particularly addressed to allow the new master device to control the motion of a slave surgical robot. For this purpose, three methods are presented to solve the FKM and compared based on the criterion of time consuming and accuracy. For each method, namely, classic FKM, Improved method and serial FKM, the resolution procedure is detailed and the experimental validation is presented. After comparison, the serial approach involving the use of three sensors located on one leg of the master device is revealed as the most suitable. Experimental validation of the real-time motion control is successfully performed using the serial FKM.
Highlights
Haptic devices are systems used to increase the user’s immersion for different applications, such as gaming [1], medicine [2,3] and virtual reality [4,5]
The proposed tele-operation system is dedicated for Minimally Invasive Surgery (MIS) performed through small incisions
The instruments in MIS are designed to enter into the patient body through tiny incision points by a trocar, see Figure 2
Summary
Haptic devices are systems used to increase the user’s immersion for different applications, such as gaming [1], medicine [2,3] and virtual reality [4,5]. Several works have tried to eliminate this type of singularity from the workspace of the parallel robot by optimizing its geometry [14,15], but by improving the kinematic behavior, the parallel robot structure becomes bigger and a problem of interference is generated [7]. Other works addressed the singularity issues and the complexity of forward kinematic model of the SPM by proposing the use of redundancy. The first solution is focused on the improvement of the accuracy of the FKM in singular region by using an additional sensor [16] This solution has allowed the simplification of the kinematic model and reducing the computing time. The most suitable one is chosen and implemented to control the motion of the surgical slave robot This approach is based on computing the FKM of a serial RRR leg of the special SPM.
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