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Paper WeD05.6

Moradi Dalvand, Mohsen (Monash University), Shirinzadeh, Bijan (Monash University)

Remote Centre-Of-Motion Control Algorithms of 6-RRCRR Parallel Robot Assisted Surgery System (PRAMiSS)

Scheduled for presentation during the Regular Session "Minimally Invasive Interventions II" (WeD05), Wednesday, May 16, 2012, 17:45−18:00, Meeting Room 5 (Ska)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 12, 2017

Keywords Medical Robots and Systems, Motion Control of Manipulators, Parallel Robots

Abstract

In this paper a 6-RRCRR parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS) is introduced. Remote centre-of-motion (RCM) control algorithms of PRAMiSS suitable for minimally invasive surgery and microsurgery are also presented. The programmable RCM approach is implemented in order to achieve manipulation under the constraint of moving through the fixed penetration point. Having minimised the displacements of the mobile platform of the parallel micropositioning robot, the algorithms also apply orientation constraint to the instrument and prevent the tool tip to orient due to the robot movements during the manipulation. Experimental results are provided to verify accuracy and effectiveness of the proposed RCM control algorithms for minimally invasive surgery.

 

 

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