Dimensional optimisation and an inverse kinematic solution method of a safety-enhanced remote centre of motion manipulator

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2023-09-19 DOI:10.1002/rcs.2579

Fang Huang, Hongqiang Sang, Fen Liu, Rui Han

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引用次数: 0

Abstract

Background

With the expansion of minimally invasive surgery (MIS) applications in surgery, the remote centre of motion (RCM) manipulator requires a more flexible workspace to meet different operation requirements. Thus, the mechanical structure and motion control of the RCM manipulator play important roles.

Methods

A multi-objective genetic algorithm was exploited to maximise the kinematic performance and obtain a compact structure of the RCM manipulator. An inverse kinematic solution method is proposed to meet task accuracy and kinematic singularity avoidance constraints for safety motion control.

Results

Simulation results demonstrate that there are significant improvements in the reachable workspace inside the abdominal cavity, the flexibility of the workspace, kinematic performance, and compactness of the RCM manipulator. Experiments verify the feasibility of the prototype and the validity of the proposed inverse kinematic solution method.

Conclusions

This enhances the adaptability and safety of the RCM manipulator and provides potential prospects for MIS application.

查看原文本刊更多论文

安全增强型远程运动中心机械手的尺寸优化和逆运动学求解方法。

背景：随着微创手术（MIS）在外科手术中应用的扩展，远程运动中心（RCM）机械手需要更灵活的工作空间来满足不同的操作要求。因此，RCM机械手的机械结构和运动控制起着重要作用。方法：利用多目标遗传算法最大限度地提高RCM机械手的运动性能，获得紧凑的结构。为了满足安全运动控制的任务精度和运动奇异性回避约束，提出了一种逆运动学求解方法。结果：仿真结果表明，RCM机械手在腹腔内的可达工作空间、工作空间的灵活性、运动学性能和紧凑性方面都有显著改进。实验验证了原型的可行性和所提出的运动学逆解方法的有效性。结论：这提高了RCM机械手的适应性和安全性，为MIS的应用提供了潜在的前景。

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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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.