A Novel Remote Center of Motion Algorithm Based on 3D Force Dragging for Minimally Invasive Surgical Robot

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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)2,3,4; Zhou YY(周圆圆)1,3,4; Guo MQ(郭明全)1,3,4; Yu T(于涛)1,3,4; Zhang H(张华)2; Liu H(刘浩)1,3,4
	2020
会议日期	October 13-16, 2020
会议地点	Beijing, China
关键词	RCM algorithm single-hole suspension arm 3D force dragging
页码	1647-1652
英文摘要	The 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.
产权排序	1
会议录	2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-6415-1
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/27962]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Liu H(刘浩)
作者单位	1.Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, China 2.Shenyang Ligong University, Mechatronic Engineering, Shenyang, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
推荐引用方式 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]. 见:. Beijing, China. October 13-16, 2020.