https://scholars.lib.ntu.edu.tw/handle/123456789/607383
標題: | Needle Driver Control for a Robotic MIS Suturing System | 作者: | Slien K Yen J.-Y Kang H.-X Ho M.-C Chen Y.-Y. YUNG-YAW CHEN |
關鍵字: | Autonomous systems;Medical robotics;Mis;Robot control;Degrees of freedom (mechanics);Robotic arms;Robotics;Autonomous robotics;Autonomous system;Coupling mechanism;Motion generation;Performance;Remote center of motions;Robots control;Six-axis;Needles | 公開日期: | 2021 | 卷: | 54 | 期: | 9 | 起(迄)頁: | 527-532 | 來源出版物: | IFAC-PapersOnLine | 摘要: | Autonomous robotic suturing has attracted research attention for years. Few results have shown the performance of an integrated robotic arm with a needle driver. This research introduces a coupling mechanism to connect a Da Vinci? large needle driver to a six-axis robotic arm. The motion of the needle driver wrist is treated as two additional motion degrees-of-freedom for the robot to simultaneously maintain the remote center-of-motion (RCM) and the needle path. The experiment employed the augmented state approach for the RCM generation and formulated the desired needle trajectory into the task control framework. This framework enables the implementation of a common robot controller. A trajectory correction procedure is also introduced to correct for the error resulted from the wrong gripper dimensions. With the proposed system, the experimental results on a training phantom show a successful tracking of the predefined suturing path. Copyright ? 2021 The Authors. This is an open access article under the CC BY-NOND license. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85117887578&doi=10.1016%2fj.ifacol.2021.06.112&partnerID=40&md5=ed8934a191f53dd3b39fc116f20fe581 https://scholars.lib.ntu.edu.tw/handle/123456789/607383 |
ISSN: | 24058963 | DOI: | 10.1016/j.ifacol.2021.06.112 |
顯示於: | 電機工程學系 |
在 IR 系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。