A novel remote center of motion mechanism for the force-reflective master robot of haptic tele-surgery systems.
Identifieur interne : 000947 ( PubMed/Corpus ); précédent : 000946; suivant : 000948A novel remote center of motion mechanism for the force-reflective master robot of haptic tele-surgery systems.
Auteurs : Mostafa Hadavand ; Alireza Mirbagheri ; Saeed Behzadipour ; Farzam FarahmandSource :
- The international journal of medical robotics + computer assisted surgery : MRCAS [ 1478-596X ] ; 2014.
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Abstract
An effective master robot for haptic tele-surgery applications needs to provide a solution for the inversed movements of the surgical tool, in addition to sufficient workspace and manipulability, with minimal moving inertia.
DOI: 10.1002/rcs.1515
PubMed: 23733681
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">A novel remote center of motion mechanism for the force-reflective master robot of haptic tele-surgery systems.</title><author><name sortKey="Hadavand, Mostafa" sort="Hadavand, Mostafa" uniqKey="Hadavand M" first="Mostafa" last="Hadavand">Mostafa Hadavand</name><affiliation><nlm:affiliation>Mechanical Engineering Department, Sharif University of Technology, Tehran, Iran; Robotic Surgery Lab., Research Centre of Biomedical Technology and Robotics, Tehran University of Medical Sciences, Tehran, Iran.</nlm:affiliation></affiliation></author><author><name sortKey="Mirbagheri, Alireza" sort="Mirbagheri, Alireza" uniqKey="Mirbagheri A" first="Alireza" last="Mirbagheri">Alireza Mirbagheri</name></author><author><name sortKey="Behzadipour, Saeed" sort="Behzadipour, Saeed" uniqKey="Behzadipour S" first="Saeed" last="Behzadipour">Saeed Behzadipour</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="2014">2014</date><idno type="RBID">pubmed:23733681</idno><idno type="pmid">23733681</idno><idno type="doi">10.1002/rcs.1515</idno><idno type="wicri:Area/PubMed/Corpus">000947</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">A novel remote center of motion mechanism for the force-reflective master robot of haptic tele-surgery systems.</title><author><name sortKey="Hadavand, Mostafa" sort="Hadavand, Mostafa" uniqKey="Hadavand M" first="Mostafa" last="Hadavand">Mostafa Hadavand</name><affiliation><nlm:affiliation>Mechanical Engineering Department, Sharif University of Technology, Tehran, Iran; Robotic Surgery Lab., Research Centre of Biomedical Technology and Robotics, Tehran University of Medical Sciences, Tehran, Iran.</nlm:affiliation></affiliation></author><author><name sortKey="Mirbagheri, Alireza" sort="Mirbagheri, Alireza" uniqKey="Mirbagheri A" first="Alireza" last="Mirbagheri">Alireza Mirbagheri</name></author><author><name sortKey="Behzadipour, Saeed" sort="Behzadipour, Saeed" uniqKey="Behzadipour S" first="Saeed" last="Behzadipour">Saeed Behzadipour</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">The international journal of medical robotics + computer assisted surgery : MRCAS</title><idno type="eISSN">1478-596X</idno><imprint><date when="2014" type="published">2014</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Biomechanical Phenomena</term><term>Computer Simulation</term><term>Equipment Design</term><term>Hand</term><term>Humans</term><term>Minimally Invasive Surgical Procedures (instrumentation)</term><term>Motion</term><term>Range of Motion, Articular</term><term>Robotic Surgical Procedures (instrumentation)</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Minimally Invasive Surgical Procedures</term><term>Robotic Surgical Procedures</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Biomechanical Phenomena</term><term>Computer Simulation</term><term>Equipment Design</term><term>Hand</term><term>Humans</term><term>Motion</term><term>Range of Motion, Articular</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">An effective master robot for haptic tele-surgery applications needs to provide a solution for the inversed movements of the surgical tool, in addition to sufficient workspace and manipulability, with minimal moving inertia.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">23733681</PMID><DateCreated><Year>2014</Year><Month>06</Month><Day>04</Day></DateCreated><DateCompleted><Year>2015</Year><Month>05</Month><Day>11</Day></DateCompleted><Article PubModel="Print-Electronic"><Journal><ISSN IssnType="Electronic">1478-596X</ISSN><JournalIssue CitedMedium="Internet"><Volume>10</Volume><Issue>2</Issue><PubDate><Year>2014</Year><Month>Jun</Month></PubDate></JournalIssue><Title>The international journal of medical robotics + computer assisted surgery : MRCAS</Title><ISOAbbreviation>Int J Med Robot</ISOAbbreviation></Journal><ArticleTitle>A novel remote center of motion mechanism for the force-reflective master robot of haptic tele-surgery systems.</ArticleTitle><Pagination><MedlinePgn>129-39</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1002/rcs.1515</ELocationID><Abstract><AbstractText Label="BACKGROUND" NlmCategory="BACKGROUND">An effective master robot for haptic tele-surgery applications needs to provide a solution for the inversed movements of the surgical tool, in addition to sufficient workspace and manipulability, with minimal moving inertia.</AbstractText><AbstractText Label="METHOD" NlmCategory="METHODS">A novel 4 + 1-DOF mechanism was proposed, based on a triple parallelogram linkage, which provided a Remote Center of Motion (RCM) at the back of the user's hand. The kinematics of the robot was analyzed and a prototype was fabricated and evaluated by experimental tests.</AbstractText><AbstractText Label="RESULTS" NlmCategory="RESULTS">With a RCM at the back of the user's hand the actuators far from the end effector, the robot could produce the sensation of hand-inside surgery with minimal moving inertia. The target workspace was achieved with an acceptable manipulability. The trajectory tracking experiments revealed small errors, due to backlash at the joints.</AbstractText><AbstractText Label="CONCLUSIONS" NlmCategory="CONCLUSIONS">The proposed mechanism meets the basic requirements of an effective master robot for haptic tele-surgery applications.</AbstractText><CopyrightInformation>Copyright © 2013 John Wiley & Sons, Ltd.</CopyrightInformation></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Hadavand</LastName><ForeName>Mostafa</ForeName><Initials>M</Initials><AffiliationInfo><Affiliation>Mechanical Engineering Department, Sharif University of Technology, Tehran, Iran; Robotic Surgery Lab., Research Centre of Biomedical Technology and Robotics, Tehran University of Medical Sciences, Tehran, Iran.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Mirbagheri</LastName><ForeName>Alireza</ForeName><Initials>A</Initials></Author><Author ValidYN="Y"><LastName>Behzadipour</LastName><ForeName>Saeed</ForeName><Initials>S</Initials></Author><Author ValidYN="Y"><LastName>Farahmand</LastName><ForeName>Farzam</ForeName><Initials>F</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList><ArticleDate DateType="Electronic"><Year>2013</Year><Month>06</Month><Day>04</Day></ArticleDate></Article><MedlineJournalInfo><Country>England</Country><MedlineTA>Int J Med Robot</MedlineTA><NlmUniqueID>101250764</NlmUniqueID><ISSNLinking>1478-5951</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D001696">Biomechanical Phenomena</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D003198">Computer Simulation</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D004867">Equipment Design</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006225">Hand</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D019060">Minimally Invasive Surgical Procedures</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000295">instrumentation</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D009038">Motion</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D016059">Range of Motion, Articular</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D065287">Robotic Surgical Procedures</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName></MeshHeading></MeshHeadingList><KeywordList Owner="NOTNLM"><Keyword MajorTopicYN="N">fulcrum effect</Keyword><Keyword MajorTopicYN="N">kinematics analysis</Keyword><Keyword MajorTopicYN="N">moving inertia</Keyword><Keyword MajorTopicYN="N">parallelogram mechanism</Keyword><Keyword MajorTopicYN="N">trajectory tracking</Keyword></KeywordList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="received"><Year>2012</Year><Month>10</Month><Day>16</Day></PubMedPubDate><PubMedPubDate PubStatus="revised"><Year>2013</Year><Month>4</Month><Day>10</Day></PubMedPubDate><PubMedPubDate PubStatus="accepted"><Year>2013</Year><Month>4</Month><Day>25</Day></PubMedPubDate><PubMedPubDate PubStatus="aheadofprint"><Year>2013</Year><Month>6</Month><Day>4</Day></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2013</Year><Month>6</Month><Day>5</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2013</Year><Month>6</Month><Day>5</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2015</Year><Month>5</Month><Day>12</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="pubmed">23733681</ArticleId><ArticleId IdType="doi">10.1002/rcs.1515</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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