Gripper's rotation of five DoF surgical robot by using coordinate transformation

T. Matsunaga, G. Fau, Ryohei Kozuki, Kazuki Tanida, K. Ohnishi
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引用次数: 1

Abstract

This paper presents a control method of gripper's rotation angle using the five degrees of freedom (DoF) surgical robot. Minimally invasive surgery has advantages for patients, but skills are required for surgeons and the demand to support by engineering is increasing. Therefore, surgical robots teleoperated by surgeons and operate patients are studied and developed. However, conventional surgical robots are not able to transmit force sense to operator adequately. Besides, there are mechanical problems caused by driving method and increased DoF. In order to overcome these problems, the five DoF surgical robot with z-translation, grasping, roll motion, pitch motion and yaw motion is developed. The rotation axes of roll, pitch and yaw motion cross a point and it is similar to human hand which can manage complex tasks. However, the roll motion of the five DoF surgical robot is different from the one of human hand because the all part inserted into human body is rotated by the roll motion. In this paper, a method to control the gripper's rotation angle by using coordinate transformation and control on workspace is proposed. The validity of the proposed method is verified by experiments.
利用坐标变换实现五自由度手术机器人夹持器的旋转
提出了一种利用五自由度手术机器人控制夹持器旋转角度的方法。微创手术对患者有好处,但对外科医生的技能要求和对工程支持的需求正在增加。因此,研究和开发了外科医生远程操作和手术患者的手术机器人。然而,传统的手术机器人不能充分地向操作者传递力感。此外,还存在由驱动方式和自由度增加引起的机械问题。为了克服这些问题,研制了具有z平移、抓握、滚转、俯仰和偏航运动的五自由度手术机器人。横摇、俯仰和偏航运动的旋转轴穿过一个点,类似于人的手,可以处理复杂的任务。然而,五自由度手术机器人的滚转运动不同于人手的滚转运动,因为所有插入人体的部分都是通过滚转运动来旋转的。本文提出了一种利用坐标变换和工作空间控制来控制夹持器旋转角度的方法。实验验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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