Tracking control of redundant manipulator under active remote center-of-motion constraints: an RNN-based metaheuristic approach
Sign Up to like & getrecommendations! Published in 2021 at "Science China Information Sciences"
DOI: 10.1007/s11432-019-2735-6
Abstract: In this paper, we propose a recurrent neural network (RNN) for the tracking control of surgical robots while satisfying remote center-of-motion (RCM) constraints. RCM constraints enforce rules suggesting that the surgical tip should not go… read more here.
Keywords: control; rcm constraints; tracking control; remote center ... See more keywords
Design and optimization of a 2-degree-of-freedom planar remote center of motion mechanism for surgical manipulators with smaller footprint
Sign Up to like & getrecommendations! Published in 2018 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2018.07.020
Abstract: Abstract This paper presents a new remote center of motion (RCM) mechanism design for Minimally Invasive Surgery (MIS) robotic manipulators, capable of providing two important degrees of freedom (DoFs) — pitch and translation — purely… read more here.
Keywords: mechanism; smaller footprint; remote center; center motion ... See more keywords
Synthesis and methodology for optimal design of a parallel remote center of motion mechanism: Application to robotic eye surgery
Sign Up to like & getrecommendations! Published in 2020 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2020.103896
Abstract: Abstract This work reports on the synthesis of a parallel Remote Center of Motion (RCM) mechanism, and an optimized design for the use-case of robot-assisted vitreoretinal surgery. A 2-DoF planar RCM mechanism is proposed and… read more here.
Keywords: methodology; mechanism; remote center; parallel remote ... See more keywords
Kinematic design and optimization of a novel dual-orthogonal remote center-of-motion mechanism for craniotomy
Sign Up to like & getrecommendations! Published in 2017 at "Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science"
DOI: 10.1177/0954406216636918
Abstract: Craniotomy is an essential neurosurgical procedure to remove a section of patient’s skull. In order to do this, the surgical tools need to execute a one-degree-of-freedom skull drilling followed by a two-degrees-of-freedom skull cutting. Particularly,… read more here.
Keywords: center motion; motion; remote center; mechanism ... See more keywords