Design of a force-reflective master robot for haptic telesurgery applications: RoboMaster1.
Identifieur interne : 000D92 ( PubMed/Checkpoint ); précédent : 000D91; suivant : 000D93Design 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
Affiliations:
Links toward previous steps (curation, corpus...)
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></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><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">22255959</PMID><DateCreated><Year>2012</Year><Month>01</Month><Day>18</Day></DateCreated><DateCompleted><Year>2012</Year><Month>08</Month><Day>08</Day></DateCompleted><DateRevised><Year>2014</Year><Month>11</Month><Day>20</Day></DateRevised><Article PubModel="Print"><Journal><ISSN IssnType="Print">1557-170X</ISSN><JournalIssue CitedMedium="Internet"><Volume>2011</Volume><PubDate><Year>2011</Year></PubDate></JournalIssue><Title>Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference</Title><ISOAbbreviation>Conf Proc IEEE Eng Med Biol Soc</ISOAbbreviation></Journal><ArticleTitle>Design of a force-reflective master robot for haptic telesurgery applications: RoboMaster1.</ArticleTitle><Pagination><MedlinePgn>7037-40</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1109/IEMBS.2011.6091779</ELocationID><Abstract><AbstractText>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.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Hadavand</LastName><ForeName>Mostafa</ForeName><Initials>M</Initials><AffiliationInfo><Affiliation>Sharif University of Technology, Tehran, Iran. hadavand@mech.sharif.edu</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Mirbagheri</LastName><ForeName>Alireza</ForeName><Initials>A</Initials></Author><Author ValidYN="Y"><LastName>Salarieh</LastName><ForeName>Hasan</ForeName><Initials>H</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></PublicationTypeList></Article><MedlineJournalInfo><Country>United States</Country><MedlineTA>Conf Proc IEEE Eng Med Biol Soc</MedlineTA><NlmUniqueID>101243413</NlmUniqueID><ISSNLinking>1557-170X</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D000465">Algorithms</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D001331">Automation</DescriptorName></MeshHeading><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="D006801">Humans</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D016014">Linear Models</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D019060">Minimally Invasive Surgical Procedures</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000295">instrumentation</QualifierName><QualifierName MajorTopicYN="N" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D015203">Reproducibility of Results</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D012371">Robotics</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D025321">Surgery, Computer-Assisted</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000295">instrumentation</QualifierName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D017216">Telemedicine</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D013997">Time Factors</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D014584">User-Computer Interface</DescriptorName></MeshHeading></MeshHeadingList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="entrez"><Year>2012</Year><Month>1</Month><Day>19</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2012</Year><Month>1</Month><Day>19</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2012</Year><Month>8</Month><Day>9</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1109/IEMBS.2011.6091779</ArticleId><ArticleId IdType="pubmed">22255959</ArticleId></ArticleIdList></PubmedData></pubmed><affiliations><list><country><li>Iran</li></country></list><tree><noCountry><name sortKey="Farahmand, Farzam" sort="Farahmand, Farzam" uniqKey="Farahmand F" first="Farzam" last="Farahmand">Farzam Farahmand</name><name sortKey="Mirbagheri, Alireza" sort="Mirbagheri, Alireza" uniqKey="Mirbagheri A" first="Alireza" last="Mirbagheri">Alireza Mirbagheri</name><name sortKey="Salarieh, Hasan" sort="Salarieh, Hasan" uniqKey="Salarieh H" first="Hasan" last="Salarieh">Hasan Salarieh</name></noCountry><country name="Iran"><noRegion><name sortKey="Hadavand, Mostafa" sort="Hadavand, Mostafa" uniqKey="Hadavand M" first="Mostafa" last="Hadavand">Mostafa Hadavand</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PubMed/Checkpoint
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000D92 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/PubMed/Checkpoint/biblio.hfd -nk 000D92 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= PubMed
|étape= Checkpoint
|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/PubMed/Checkpoint/RBID.i -Sk "pubmed:22255959" \
| HfdSelect -Kh $EXPLOR_AREA/Data/PubMed/Checkpoint/biblio.hfd \
| NlmPubMed2Wicri -a HapticV1
| This area was generated with Dilib version V0.6.23. |  |