Kinematics Analysis and Motion Planning of a Redundant Robotic Manipulator for Surgical Intervention

Quanquan Liu; Chunbao Wang; Bo Zhang; Lihong Duan; Xin Zhang; Tongyang Sun; Wanfeng Shang; Yajing Shen; Zhuohua Lin; Xiaorui Li; Weiguang Li; Weiping Li; Yulong Wang; Masakatsu G. Fujie; Zhengzhi Wu

doi:10.1109/cbs.2017.8266064

Kinematics Analysis and Motion Planning of a Redundant Robotic Manipulator for Surgical Intervention

Quanquan Liu
, Chunbao Wang^*
, Bo Zhang
, Lihong Duan
, Xin Zhang
, Tongyang Sun
, Wanfeng Shang
, Yajing Shen
, Zhuohua Lin
, Xiaorui Li
, Weiguang Li
, Weiping Li
, Yulong Wang
, Masakatsu G. Fujie
, Zhengzhi Wu

^*Corresponding author for this work

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

3 Citations (Scopus)

Abstract

Robotic assisted technologies benefit surgeon for less workload via dexterous manipulation in minimally invasive surgeries (MIS). Redundant manipulator can provide sufficient dexterity and is potential to use in a confined and narrow workspace. We had designed a master-slave paediatric surgical assist robot, which consists of two symmetric slave arms with nine DOFs each for dexterous manipulation. This paper presents the kinematics computation of the redundant manipulator based on its geometrical structure, and then, a shape optimization algorithm is constructed to calculate the posture configuration along the redundant manipulator, subsequently, a collision avoidance algorithm is constructed to perform motion planning in a narrow workspace. The experiments were executed to validate the correctness of the derived inverse kinematics algorithm and the results demonstrated that the redundant manipulator is capable of performing dexterous manipulation with a positioning accuracy within 1.5 mm in a narrow surgical workspace.

Original language	English
Title of host publication	2017 IEEE International Conference on Cyborg and Bionic Systems (CBS)
Publisher	IEEE
Pages	1-6
ISBN (Electronic)	978-1-5386-3194-2
DOIs	https://doi.org/10.1109/cbs.2017.8266064
Publication status	Published - Oct 2017
Event	2017 IEEE International Conference on Cyborg and Bionic Systems (CBS 2017) - Beijing, China Duration: 17 Oct 2017 → 19 Oct 2017

Conference

Conference	2017 IEEE International Conference on Cyborg and Bionic Systems (CBS 2017)
Place	China
City	Beijing
Period	17/10/17 → 19/10/17

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Research Keywords

PLATFORM
SURGERY

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10.1109/cbs.2017.8266064

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Liu, Q., Wang, C., Zhang, B., Duan, L., Zhang, X., Sun, T., Shang, W., Shen, Y., Lin, Z., Li, X., Li, W., Li, W., Wang, Y., Fujie, M. G., & Wu, Z. (2017). Kinematics Analysis and Motion Planning of a Redundant Robotic Manipulator for Surgical Intervention. In 2017 IEEE International Conference on Cyborg and Bionic Systems (CBS) (pp. 1-6). IEEE. https://doi.org/10.1109/cbs.2017.8266064

@inproceedings{e1da31cf84934e62a1ad127a9d94d1d2,

title = "Kinematics Analysis and Motion Planning of a Redundant Robotic Manipulator for Surgical Intervention",

abstract = "Robotic assisted technologies benefit surgeon for less workload via dexterous manipulation in minimally invasive surgeries (MIS). Redundant manipulator can provide sufficient dexterity and is potential to use in a confined and narrow workspace. We had designed a master-slave paediatric surgical assist robot, which consists of two symmetric slave arms with nine DOFs each for dexterous manipulation. This paper presents the kinematics computation of the redundant manipulator based on its geometrical structure, and then, a shape optimization algorithm is constructed to calculate the posture configuration along the redundant manipulator, subsequently, a collision avoidance algorithm is constructed to perform motion planning in a narrow workspace. The experiments were executed to validate the correctness of the derived inverse kinematics algorithm and the results demonstrated that the redundant manipulator is capable of performing dexterous manipulation with a positioning accuracy within 1.5 mm in a narrow surgical workspace.",

keywords = "PLATFORM, SURGERY",

author = "Quanquan Liu and Chunbao Wang and Bo Zhang and Lihong Duan and Xin Zhang and Tongyang Sun and Wanfeng Shang and Yajing Shen and Zhuohua Lin and Xiaorui Li and Weiguang Li and Weiping Li and Yulong Wang and Fujie, \{Masakatsu G.\} and Zhengzhi Wu",

year = "2017",

month = oct,

doi = "10.1109/cbs.2017.8266064",

language = "English",

pages = "1--6",

booktitle = "2017 IEEE International Conference on Cyborg and Bionic Systems (CBS)",

publisher = "IEEE",

address = "United States",

note = "2017 IEEE International Conference on Cyborg and Bionic Systems (CBS 2017) ; Conference date: 17-10-2017 Through 19-10-2017",

}

Liu, Q, Wang, C, Zhang, B, Duan, L, Zhang, X, Sun, T, Shang, W, Shen, Y, Lin, Z, Li, X, Li, W, Li, W, Wang, Y, Fujie, MG & Wu, Z 2017, Kinematics Analysis and Motion Planning of a Redundant Robotic Manipulator for Surgical Intervention. in 2017 IEEE International Conference on Cyborg and Bionic Systems (CBS). IEEE, pp. 1-6, 2017 IEEE International Conference on Cyborg and Bionic Systems (CBS 2017), Beijing, China, 17/10/17. https://doi.org/10.1109/cbs.2017.8266064

Kinematics Analysis and Motion Planning of a Redundant Robotic Manipulator for Surgical Intervention. / Liu, Quanquan; Wang, Chunbao; Zhang, Bo et al.
2017 IEEE International Conference on Cyborg and Bionic Systems (CBS). IEEE, 2017. p. 1-6.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Kinematics Analysis and Motion Planning of a Redundant Robotic Manipulator for Surgical Intervention

AU - Liu, Quanquan

AU - Wang, Chunbao

AU - Zhang, Bo

AU - Duan, Lihong

AU - Zhang, Xin

AU - Sun, Tongyang

AU - Shang, Wanfeng

AU - Shen, Yajing

AU - Lin, Zhuohua

AU - Li, Xiaorui

AU - Li, Weiguang

AU - Li, Weiping

AU - Wang, Yulong

AU - Fujie, Masakatsu G.

AU - Wu, Zhengzhi

PY - 2017/10

Y1 - 2017/10

N2 - Robotic assisted technologies benefit surgeon for less workload via dexterous manipulation in minimally invasive surgeries (MIS). Redundant manipulator can provide sufficient dexterity and is potential to use in a confined and narrow workspace. We had designed a master-slave paediatric surgical assist robot, which consists of two symmetric slave arms with nine DOFs each for dexterous manipulation. This paper presents the kinematics computation of the redundant manipulator based on its geometrical structure, and then, a shape optimization algorithm is constructed to calculate the posture configuration along the redundant manipulator, subsequently, a collision avoidance algorithm is constructed to perform motion planning in a narrow workspace. The experiments were executed to validate the correctness of the derived inverse kinematics algorithm and the results demonstrated that the redundant manipulator is capable of performing dexterous manipulation with a positioning accuracy within 1.5 mm in a narrow surgical workspace.

AB - Robotic assisted technologies benefit surgeon for less workload via dexterous manipulation in minimally invasive surgeries (MIS). Redundant manipulator can provide sufficient dexterity and is potential to use in a confined and narrow workspace. We had designed a master-slave paediatric surgical assist robot, which consists of two symmetric slave arms with nine DOFs each for dexterous manipulation. This paper presents the kinematics computation of the redundant manipulator based on its geometrical structure, and then, a shape optimization algorithm is constructed to calculate the posture configuration along the redundant manipulator, subsequently, a collision avoidance algorithm is constructed to perform motion planning in a narrow workspace. The experiments were executed to validate the correctness of the derived inverse kinematics algorithm and the results demonstrated that the redundant manipulator is capable of performing dexterous manipulation with a positioning accuracy within 1.5 mm in a narrow surgical workspace.

KW - PLATFORM

KW - SURGERY

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UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85050471555&origin=recordpage

U2 - 10.1109/cbs.2017.8266064

DO - 10.1109/cbs.2017.8266064

M3 - RGC 32 - Refereed conference paper (with host publication)

SP - 1

EP - 6

BT - 2017 IEEE International Conference on Cyborg and Bionic Systems (CBS)

PB - IEEE

T2 - 2017 IEEE International Conference on Cyborg and Bionic Systems (CBS 2017)

Y2 - 17 October 2017 through 19 October 2017

ER -

Kinematics Analysis and Motion Planning of a Redundant Robotic Manipulator for Surgical Intervention

Abstract

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UN SDGs

Research Keywords

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