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Cable-driven MIS robot with intuitive manipulability and direct force feedback

Cable-driven MIS robot with intuitive manipulability and direct force feedback

Yue, Longwang, Xu, J, Wei, L, Xing, X, Chen, H, Din, M and Tee, Kong Fah ORCID: 0000-0003-3202-873X (2019) Cable-driven MIS robot with intuitive manipulability and direct force feedback. Investigación Clínica, 60 (4). pp. 813-824. ISSN 0535-5133

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Abstract

The master-slave control mode of minimally invasive surgery (MIS) robot systems improves intuitive manipulability of MIS, but it cuts off direct force feedback between the master and slave manipulator. In order to design a MIS robot with both intuitive manipulability and direct force feedback, the following studies were conducted. Firstly, based on a new task division of the console surgeon and operating-table surgeon, a new model of an MIS robots system was proposed, in which the operating-table surgeon worked as main surgeon and the console surgeon worked as assistant surgeon. Secondly, according to the workspace requirement of MIS, a symmetrical cable-driven MIS robot was designed including structure, layout of driving cable and motion characteristics. Thirdly, the prototype was manufactured and related experiments were carried out, such as flexibility experiment, position control accuracy experiment and motion performance experiment. The study is important for both improving intuitive manipulability and realizing force feedback of MIS robot.

Item Type: Article
Uncontrolled Keywords: Minimally Invasive Surgery (MIS), Operating Intuitiveness, Cable-driven, Force Feedback, Specula Symmetrical Mapping, Central Symmetrical Mapping, Reverse Motion Compensation, Decoupling, Motion Trajectory
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Faculty / Department / Research Group: Faculty of Engineering & Science
Faculty of Engineering & Science > Department of Engineering Science
Last Modified: 17 Jan 2020 16:57
Selected for GREAT 2016: None
Selected for GREAT 2017: None
Selected for GREAT 2018: None
Selected for GREAT 2019: None
URI: http://gala.gre.ac.uk/id/eprint/26557

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