Development of a New Medical Robot System for Minimally Invasive Surgery
This paper presents the development of a new medical robot system comprising a spherical remote center motion (RCM) mechanism with modular design and two mechanical decoupling methods for Minimally Invasive Surgery (MIS). We achieved excellent comprehensive performance indices through a novel multi-...
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| creator | Niu, Guojun Pan, Bo Fu, Yili Qu, Cuicui |
| description | This paper presents the development of a new medical robot system comprising a spherical remote center motion (RCM) mechanism with modular design and two mechanical decoupling methods for Minimally Invasive Surgery (MIS). We achieved excellent comprehensive performance indices through a novel multi-objective optimization model comprising four optimization objective functions, three constrained conditions and two optimization variables. In order to enhance the manipulability, remove the coupling between motors, and reduce the control difficulty, two new decoupling mechanism means were proposed to remove coupling motion between the wrist and pincers, coupling motion between the translational joint of mobile platform and four interface disks of surgical instrument as a results of rear drive motor, respectively. The control system architecture is designed to include intuitive motion control, incremental motion control, and proportional motion control. Master-slave attitude registration and surgical instrument replacement strategies improve the master-slave control efficiency. We tested the spherical RCM mechanism performance indices and developed two mechanical decoupling methods and a master-slave control algorithm. Our experimental test results validated that fixing point accuracy, the coupling motions, the positioning and repeated positioning accuracy of the MIS robot, and master-slave control algorithm meet the requirements of MIS. Successful animal experiments confirmed effectiveness of the novel MIS robot system. |
| doi_str_mv | 10.1109/ACCESS.2020.3014532 |
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We achieved excellent comprehensive performance indices through a novel multi-objective optimization model comprising four optimization objective functions, three constrained conditions and two optimization variables. In order to enhance the manipulability, remove the coupling between motors, and reduce the control difficulty, two new decoupling mechanism means were proposed to remove coupling motion between the wrist and pincers, coupling motion between the translational joint of mobile platform and four interface disks of surgical instrument as a results of rear drive motor, respectively. The control system architecture is designed to include intuitive motion control, incremental motion control, and proportional motion control. Master-slave attitude registration and surgical instrument replacement strategies improve the master-slave control efficiency. We tested the spherical RCM mechanism performance indices and developed two mechanical decoupling methods and a master-slave control algorithm. Our experimental test results validated that fixing point accuracy, the coupling motions, the positioning and repeated positioning accuracy of the MIS robot, and master-slave control algorithm meet the requirements of MIS. Successful animal experiments confirmed effectiveness of the novel MIS robot system.</description><identifier>ISSN: 2169-3536</identifier><identifier>EISSN: 2169-3536</identifier><identifier>DOI: 10.1109/ACCESS.2020.3014532</identifier><identifier>CODEN: IAECCG</identifier><language>eng</language><publisher>Piscataway: IEEE</publisher><subject>Algorithms ; Computer architecture ; Control algorithms ; Control equipment ; Control systems design ; Control theory ; Coupling ; Couplings ; Decoupling method ; Decoupling motion ; Disks ; Indexes ; Kinematics ; Laparoscopy ; Master-slave control ; Medical robotics ; MIS robot ; Modular design ; Motion control ; Multi-objective optimization ; Multiple objective analysis ; Optimization ; Performance indices ; RCM ; Robot control ; Robots ; Surgery ; Surgical apparatus & instruments ; Surgical instruments ; Wrist</subject><ispartof>IEEE access, 2020-01, Vol.8, p.1-1</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2020</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c408t-c7e175eb14792602af537faa85de01672d7e8d29fba0312d93b93178d89d058d3</citedby><cites>FETCH-LOGICAL-c408t-c7e175eb14792602af537faa85de01672d7e8d29fba0312d93b93178d89d058d3</cites><orcidid>0000-0002-1614-1356 ; 0000-0001-8954-399X</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/9159556$$EHTML$$P50$$Gieee$$Hfree_for_read</linktohtml><link.rule.ids>314,777,781,861,2096,27614,27905,27906,54914</link.rule.ids></links><search><creatorcontrib>Niu, Guojun</creatorcontrib><creatorcontrib>Pan, Bo</creatorcontrib><creatorcontrib>Fu, Yili</creatorcontrib><creatorcontrib>Qu, Cuicui</creatorcontrib><title>Development of a New Medical Robot System for Minimally Invasive Surgery</title><title>IEEE access</title><addtitle>Access</addtitle><description>This paper presents the development of a new medical robot system comprising a spherical remote center motion (RCM) mechanism with modular design and two mechanical decoupling methods for Minimally Invasive Surgery (MIS). We achieved excellent comprehensive performance indices through a novel multi-objective optimization model comprising four optimization objective functions, three constrained conditions and two optimization variables. In order to enhance the manipulability, remove the coupling between motors, and reduce the control difficulty, two new decoupling mechanism means were proposed to remove coupling motion between the wrist and pincers, coupling motion between the translational joint of mobile platform and four interface disks of surgical instrument as a results of rear drive motor, respectively. The control system architecture is designed to include intuitive motion control, incremental motion control, and proportional motion control. Master-slave attitude registration and surgical instrument replacement strategies improve the master-slave control efficiency. We tested the spherical RCM mechanism performance indices and developed two mechanical decoupling methods and a master-slave control algorithm. Our experimental test results validated that fixing point accuracy, the coupling motions, the positioning and repeated positioning accuracy of the MIS robot, and master-slave control algorithm meet the requirements of MIS. Successful animal experiments confirmed effectiveness of the novel MIS robot system.</description><subject>Algorithms</subject><subject>Computer architecture</subject><subject>Control algorithms</subject><subject>Control equipment</subject><subject>Control systems design</subject><subject>Control theory</subject><subject>Coupling</subject><subject>Couplings</subject><subject>Decoupling method</subject><subject>Decoupling motion</subject><subject>Disks</subject><subject>Indexes</subject><subject>Kinematics</subject><subject>Laparoscopy</subject><subject>Master-slave control</subject><subject>Medical robotics</subject><subject>MIS robot</subject><subject>Modular design</subject><subject>Motion control</subject><subject>Multi-objective optimization</subject><subject>Multiple objective analysis</subject><subject>Optimization</subject><subject>Performance indices</subject><subject>RCM</subject><subject>Robot control</subject><subject>Robots</subject><subject>Surgery</subject><subject>Surgical apparatus & instruments</subject><subject>Surgical instruments</subject><subject>Wrist</subject><issn>2169-3536</issn><issn>2169-3536</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2020</creationdate><recordtype>article</recordtype><sourceid>ESBDL</sourceid><sourceid>RIE</sourceid><sourceid>DOA</sourceid><recordid>eNpNUV1rwkAQDKWFivUX-HLQ59j7yN3lHiW1VdAWmvb5uOQ2Eok5e4mW_PvGRqQLyy7DzuzABMGU4BkhWD3Nk2SRpjOKKZ4xTCLO6E0wokSokHEmbv_t98GkaXa4r7iHuBwFy2c4QeUOe6hb5Apk0Bv8oA3YMjcV-nCZa1HaNS3sUeE82pR1uTdV1aFVfTJNeQKUHv0WfPcQ3BWmamBymePg62XxmSzD9fvrKpmvwzzCcRvmEojkkJFIKiowNQVnsjAm5hYwEZJaCbGlqsgMZoRaxTLFiIxtrCzmsWXjYDXoWmd2-uB7O77TzpT6D3B-q41vy7wCjQW3HKvMKkojJoQpjM1t1DdXkrKz1uOgdfDu-whNq3fu6OvevqYRj0REKSf9FRuucu-axkNx_UqwPieghwT0OQF9SaBnTQdWCQBXhiJccS7YL6qggD0</recordid><startdate>20200101</startdate><enddate>20200101</enddate><creator>Niu, Guojun</creator><creator>Pan, Bo</creator><creator>Fu, Yili</creator><creator>Qu, Cuicui</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>ESBDL</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7SR</scope><scope>8BQ</scope><scope>8FD</scope><scope>JG9</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>DOA</scope><orcidid>https://orcid.org/0000-0002-1614-1356</orcidid><orcidid>https://orcid.org/0000-0001-8954-399X</orcidid></search><sort><creationdate>20200101</creationdate><title>Development of a New Medical Robot System for Minimally Invasive Surgery</title><author>Niu, Guojun ; Pan, Bo ; Fu, Yili ; Qu, Cuicui</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c408t-c7e175eb14792602af537faa85de01672d7e8d29fba0312d93b93178d89d058d3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2020</creationdate><topic>Algorithms</topic><topic>Computer architecture</topic><topic>Control algorithms</topic><topic>Control equipment</topic><topic>Control systems design</topic><topic>Control theory</topic><topic>Coupling</topic><topic>Couplings</topic><topic>Decoupling method</topic><topic>Decoupling motion</topic><topic>Disks</topic><topic>Indexes</topic><topic>Kinematics</topic><topic>Laparoscopy</topic><topic>Master-slave control</topic><topic>Medical robotics</topic><topic>MIS robot</topic><topic>Modular design</topic><topic>Motion control</topic><topic>Multi-objective optimization</topic><topic>Multiple objective analysis</topic><topic>Optimization</topic><topic>Performance indices</topic><topic>RCM</topic><topic>Robot control</topic><topic>Robots</topic><topic>Surgery</topic><topic>Surgical apparatus & instruments</topic><topic>Surgical instruments</topic><topic>Wrist</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Niu, Guojun</creatorcontrib><creatorcontrib>Pan, Bo</creatorcontrib><creatorcontrib>Fu, Yili</creatorcontrib><creatorcontrib>Qu, Cuicui</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE Open Access Journals</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Engineered Materials Abstracts</collection><collection>METADEX</collection><collection>Technology Research Database</collection><collection>Materials Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>DOAJ Directory of Open Access Journals</collection><jtitle>IEEE access</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Niu, Guojun</au><au>Pan, Bo</au><au>Fu, Yili</au><au>Qu, Cuicui</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Development of a New Medical Robot System for Minimally Invasive Surgery</atitle><jtitle>IEEE access</jtitle><stitle>Access</stitle><date>2020-01-01</date><risdate>2020</risdate><volume>8</volume><spage>1</spage><epage>1</epage><pages>1-1</pages><issn>2169-3536</issn><eissn>2169-3536</eissn><coden>IAECCG</coden><abstract>This paper presents the development of a new medical robot system comprising a spherical remote center motion (RCM) mechanism with modular design and two mechanical decoupling methods for Minimally Invasive Surgery (MIS). We achieved excellent comprehensive performance indices through a novel multi-objective optimization model comprising four optimization objective functions, three constrained conditions and two optimization variables. In order to enhance the manipulability, remove the coupling between motors, and reduce the control difficulty, two new decoupling mechanism means were proposed to remove coupling motion between the wrist and pincers, coupling motion between the translational joint of mobile platform and four interface disks of surgical instrument as a results of rear drive motor, respectively. The control system architecture is designed to include intuitive motion control, incremental motion control, and proportional motion control. Master-slave attitude registration and surgical instrument replacement strategies improve the master-slave control efficiency. We tested the spherical RCM mechanism performance indices and developed two mechanical decoupling methods and a master-slave control algorithm. Our experimental test results validated that fixing point accuracy, the coupling motions, the positioning and repeated positioning accuracy of the MIS robot, and master-slave control algorithm meet the requirements of MIS. Successful animal experiments confirmed effectiveness of the novel MIS robot system.</abstract><cop>Piscataway</cop><pub>IEEE</pub><doi>10.1109/ACCESS.2020.3014532</doi><tpages>1</tpages><orcidid>https://orcid.org/0000-0002-1614-1356</orcidid><orcidid>https://orcid.org/0000-0001-8954-399X</orcidid><oa>free_for_read</oa></addata></record> |
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| subjects | Algorithms Computer architecture Control algorithms Control equipment Control systems design Control theory Coupling Couplings Decoupling method Decoupling motion Disks Indexes Kinematics Laparoscopy Master-slave control Medical robotics MIS robot Modular design Motion control Multi-objective optimization Multiple objective analysis Optimization Performance indices RCM Robot control Robots Surgery Surgical apparatus & instruments Surgical instruments Wrist |
| title | Development of a New Medical Robot System for Minimally Invasive Surgery |
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