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
The Effect of Remote Center Compliance Parameters on Formation Control of Cooperative Wheeled Mobile Robots for Object Manipulation
Sign Up to like & getrecommendations! Published in 2018 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-016-0604-7
Abstract: Formation control is a potential advanced technology for aircrafts, spacecrafts and space robots. This paper, for the first time, studies several methods of passive and semi-active Remote Center Compliance (RCC) in order to examine their… read more here.
Keywords: center compliance; formation control; 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
Neurosurgical Services in the Northern Zone of Sarawak in Malaysia: The Way Forward Amid the COVID-19 Pandemic
Sign Up to like & getrecommendations! Published in 2020 at "World Neurosurgery"
DOI: 10.1016/j.wneu.2020.09.045
Abstract: Background The novel coronavirus disease 2019 (COVID-19) pandemic has set a huge challenge to the delivery of neurosurgical services including the transfer of patients. We aimed to share our strategy in handling neurosurgical emergencies at… read more here.
Keywords: remote center; neurosurgical services; covid pandemic; sarawak malaysia ... See more keywords
Data-Driven Remote Center of Cyclic Motion (RC$^{2}$M) Control for Redundant Robots With Rod-Shaped End-Effector
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Transactions on Industrial Informatics"
DOI: 10.1109/tii.2024.3353930
Abstract: Remote center of motion (RCM) has become a rising research direction in the field of robotics. It means that a robot with a rod-shaped end-effector operates through a tiny hole on the surface. Thereinto, a… read more here.
Keywords: end effector; effector; shaped end; rod shaped ... 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