Design of a force-reflective master robot for haptic telesurgery applications: RoboMaster1.
Identifieur interne : 002C75 ( Main/Merge ); précédent : 002C74; suivant : 002C76Design of a force-reflective master robot for haptic telesurgery applications: RoboMaster1.
Auteurs : Mostafa Hadavand [Iran] ; Alireza Mirbagheri ; Hasan Salarieh ; Farzam FarahmandSource :
- Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference [ 1557-170X ] ; 2011.
English descriptors
- KwdEn :
- Algorithms, Automation, Biomechanical Phenomena, Computer Simulation, Equipment Design, Humans, Linear Models, Minimally Invasive Surgical Procedures (instrumentation), Minimally Invasive Surgical Procedures (methods), Reproducibility of Results, Robotics, Surgery, Computer-Assisted (instrumentation), Surgery, Computer-Assisted (methods), Telemedicine (methods), Time Factors, User-Computer Interface.
- MESH :
- instrumentation : Minimally Invasive Surgical Procedures, Surgery, Computer-Assisted.
- methods : Minimally Invasive Surgical Procedures, Surgery, Computer-Assisted, Telemedicine.
- Algorithms, Automation, Biomechanical Phenomena, Computer Simulation, Equipment Design, Humans, Linear Models, Reproducibility of Results, Robotics, Time Factors, User-Computer Interface.
Abstract
With the increasing trend toward Minimally Invasive Surgery (MIS) procedures, the need to develop new robotic systems to facilitate such surgeries is more and more recognized. This paper describes the design and development of a 4 DOF force-reflective master robot (RoboMaster1) for haptic telesurgery applications. A two-double parallelogram robot is introduced including a novel mechanism at the base for producing and control of the end effector's linear motion. This eliminates the deficiencies caused due to suspending massive actuators at the end effector or cabling from the base. The kinematics and work space of the system were analyzed and a prototype was developed for primary practical evaluations. The results showed that the system can effectively simulate the surgeon's hand maneuvers inside the abdominal cavity with a Remote Center of Motion (RCM) located at the backside. With this important feature, the system is expected to facilitate the key hole surgeries by eliminating the need for inverse and/or scaled maneuvers during minimally invasive surgeries.
DOI: 10.1109/IEMBS.2011.6091779
PubMed: 22255959
Links toward previous steps (curation, corpus...)
- to stream PubMed, to step Corpus: 000D09
- to stream PubMed, to step Curation: 000D09
- to stream PubMed, to step Checkpoint: 000D92
- to stream Ncbi, to step Merge: 001D88
- to stream Ncbi, to step Curation: 001D88
- to stream Ncbi, to step Checkpoint: 001D88
Links to Exploration step
pubmed:22255959Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Design of a force-reflective master robot for haptic telesurgery applications: RoboMaster1.</title><author><name sortKey="Hadavand, Mostafa" sort="Hadavand, Mostafa" uniqKey="Hadavand M" first="Mostafa" last="Hadavand">Mostafa Hadavand</name><affiliation wicri:level="1"><nlm:affiliation>Sharif University of Technology, Tehran, Iran. hadavand@mech.sharif.edu</nlm:affiliation><country xml:lang="fr">Iran</country><wicri:regionArea>Sharif University of Technology, Tehran</wicri:regionArea><wicri:noRegion>Tehran</wicri:noRegion></affiliation></author><author><name sortKey="Mirbagheri, Alireza" sort="Mirbagheri, Alireza" uniqKey="Mirbagheri A" first="Alireza" last="Mirbagheri">Alireza Mirbagheri</name></author><author><name sortKey="Salarieh, Hasan" sort="Salarieh, Hasan" uniqKey="Salarieh H" first="Hasan" last="Salarieh">Hasan Salarieh</name></author><author><name sortKey="Farahmand, Farzam" sort="Farahmand, Farzam" uniqKey="Farahmand F" first="Farzam" last="Farahmand">Farzam Farahmand</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2011">2011</date><idno type="doi">10.1109/IEMBS.2011.6091779</idno><idno type="RBID">pubmed:22255959</idno><idno type="pmid">22255959</idno><idno type="wicri:Area/PubMed/Corpus">000D09</idno><idno type="wicri:Area/PubMed/Curation">000D09</idno><idno type="wicri:Area/PubMed/Checkpoint">000D92</idno><idno type="wicri:Area/Ncbi/Merge">001D88</idno><idno type="wicri:Area/Ncbi/Curation">001D88</idno><idno type="wicri:Area/Ncbi/Checkpoint">001D88</idno><idno type="wicri:doubleKey">1557-170X:2011:Hadavand M:design:of:a</idno><idno type="wicri:Area/Main/Merge">002C75</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Design of a force-reflective master robot for haptic telesurgery applications: RoboMaster1.</title><author><name sortKey="Hadavand, Mostafa" sort="Hadavand, Mostafa" uniqKey="Hadavand M" first="Mostafa" last="Hadavand">Mostafa Hadavand</name><affiliation wicri:level="1"><nlm:affiliation>Sharif University of Technology, Tehran, Iran. hadavand@mech.sharif.edu</nlm:affiliation><country xml:lang="fr">Iran</country><wicri:regionArea>Sharif University of Technology, Tehran</wicri:regionArea><wicri:noRegion>Tehran</wicri:noRegion></affiliation></author><author><name sortKey="Mirbagheri, Alireza" sort="Mirbagheri, Alireza" uniqKey="Mirbagheri A" first="Alireza" last="Mirbagheri">Alireza Mirbagheri</name></author><author><name sortKey="Salarieh, Hasan" sort="Salarieh, Hasan" uniqKey="Salarieh H" first="Hasan" last="Salarieh">Hasan Salarieh</name></author><author><name sortKey="Farahmand, Farzam" sort="Farahmand, Farzam" uniqKey="Farahmand F" first="Farzam" last="Farahmand">Farzam Farahmand</name></author></analytic><series><title level="j">Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference</title><idno type="ISSN">1557-170X</idno><imprint><date when="2011" type="published">2011</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Algorithms</term><term>Automation</term><term>Biomechanical Phenomena</term><term>Computer Simulation</term><term>Equipment Design</term><term>Humans</term><term>Linear Models</term><term>Minimally Invasive Surgical Procedures (instrumentation)</term><term>Minimally Invasive Surgical Procedures (methods)</term><term>Reproducibility of Results</term><term>Robotics</term><term>Surgery, Computer-Assisted (instrumentation)</term><term>Surgery, Computer-Assisted (methods)</term><term>Telemedicine (methods)</term><term>Time Factors</term><term>User-Computer Interface</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Minimally Invasive Surgical Procedures</term><term>Surgery, Computer-Assisted</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Minimally Invasive Surgical Procedures</term><term>Surgery, Computer-Assisted</term><term>Telemedicine</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Algorithms</term><term>Automation</term><term>Biomechanical Phenomena</term><term>Computer Simulation</term><term>Equipment Design</term><term>Humans</term><term>Linear Models</term><term>Reproducibility of Results</term><term>Robotics</term><term>Time Factors</term><term>User-Computer Interface</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">With the increasing trend toward Minimally Invasive Surgery (MIS) procedures, the need to develop new robotic systems to facilitate such surgeries is more and more recognized. This paper describes the design and development of a 4 DOF force-reflective master robot (RoboMaster1) for haptic telesurgery applications. A two-double parallelogram robot is introduced including a novel mechanism at the base for producing and control of the end effector's linear motion. This eliminates the deficiencies caused due to suspending massive actuators at the end effector or cabling from the base. The kinematics and work space of the system were analyzed and a prototype was developed for primary practical evaluations. The results showed that the system can effectively simulate the surgeon's hand maneuvers inside the abdominal cavity with a Remote Center of Motion (RCM) located at the backside. With this important feature, the system is expected to facilitate the key hole surgeries by eliminating the need for inverse and/or scaled maneuvers during minimally invasive surgeries.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Merge
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 002C75 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Merge/biblio.hfd -nk 002C75 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Merge
|type= RBID
|clé= pubmed:22255959
|texte= Design of a force-reflective master robot for haptic telesurgery applications: RoboMaster1.
}}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Main/Merge/RBID.i -Sk "pubmed:22255959" \
| HfdSelect -Kh $EXPLOR_AREA/Data/Main/Merge/biblio.hfd \
| NlmPubMed2Wicri -a HapticV1
| This area was generated with Dilib version V0.6.23. |  |