Inverse Kinematics Simulation for a Surgical Robot Using CATIA

Shao Gang Liu; Edris Farah

doi:10.4028/www.scientific.net/AMM.780.49

Paper Titles

Etch Performance of KRF Excimer Laser Micromachining Characterization on Silicon Material
p.29

Deformation Behaviour of Glass Fibre Reinforced Concrete Containing Palm Oil Fuel Ash
p.33

Consideration of Factors Towards Lowering the Natural Frequency of MEMS Based Cantilever Structure: Top Mass versus Back Etch Design
p.39

Coupling Gap Analysis of Microring Photonic Wavelength Switch
p.45

Inverse Kinematics Simulation for a Surgical Robot Using CATIA
p.49

Design of Automated Moving Stage with Adaptive Focus System to Support Microscopy Image Stitching
p.55

Predicting the Actual Strength of Open-End Spun Yarn Using Mechanical Model
p.69

Optimization Position and Tilt Angle for Automatic Tracking Solar Collector in Solar Thermal Cooling System of Building MRC FTUI
p.75

Simulation and Optimization of Solar Thermal Cooling System in Manufacturing Research Center Building to Reduce Operational Cost Using Software EnergyPlus and GenOpt
p.81

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 780Inverse Kinematics Simulation for a Surgical Robot...

Inverse Kinematics Simulation for a Surgical Robot Using CATIA

Abstract:

Robotic arm with six degrees of freedom can be successfully used to do a surgical task through a small incision called (RCM point) on the patient's body. Inverse Kinematics modeling and simulating of a 6 DOF surgical robot is developed in this paper. The mathematical model equations are built using geometric approach and the Denavit-Hartenberg convention. The 3D model of the robot is created by CATIA5 to simulate the motion of the robot in surgical environments. The inverse kinematics equations model is validated through the simulating model. Result confirms that the proposed robot mechanism is applicable for minimally invasive surgery applications.

You might also be interested in these eBooks

Engineering Trends: Materials Science, Mechanics and Kinematics

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volume 780)

Pages:

49-54

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.780.49

Citation:

Cite this paper

Online since:

July 2015

Authors:

Shao Gang Liu, Edris Farah*

Keywords:

Inverse Kinematics, Kinematics Simulating, RCM Point, Robot Arm, Robot-Assisted Surgery

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

* - Corresponding Author

References

[1] Taylor R H, Funda J, Eldridge B, Gomory S, Gruben K, LaRose D, Talamini M, Kavoussi L, Anderson J (1995) A telerobotic assistant for laparoscopic surgery. Engineering in Medicine and Biology Magazine, IEEE 14 (3): 279-288.

DOI: 10.1109/51.391776

Google Scholar

[2] Navarro, Jose Sabater, et al (2010) Kinematics of a robotic 3UPS1S spherical wrist designed for laparoscopic applications. The International Journal of Medical Robotics and Computer Assisted Surgery 6 (3): 291-300.

DOI: 10.1002/rcs.331

Google Scholar

[3] Zhang Xiaoli, and Carl A. Nelson (2008) Kinematic analysis and optimization of a novel robot for surgical tool manipulation. Journal of Medical Devices 2 (2): 021003.

Google Scholar

[4] Pisla Doina, Nicolae Plitea, and Calin Vaida (2008) Kinematic modeling and workspace generation for a new parallel robot used in minimally invasive surgery. Advances in robot kinematics: analysis and design. Springer Netherlands: 459-468.

DOI: 10.1007/978-1-4020-8600-7_48

Google Scholar

[5] Kuo, Chin-Hsing, Jian S. Dai, and Prokar Dasgupta (2012) Kinematic design considerations for minimally invasive surgical robots: an overview. The International Journal of Medical Robotics and Computer Assisted Surgery. 8(2): 127-145.

DOI: 10.1002/rcs.453

Google Scholar

[6] Spong, Mark W, Seth Hutchinson, and Mathukumalli Vidyasagar (2006) Robot modeling and control. New York: Wiley (3).

Google Scholar

[7] John J C (1989) Introduction to robotics: mechanics and control. Addison-Wesley Publishing Company, Inc Reading, MA: 211-215.

Google Scholar

[8] Heck., André., and Wolfram Koepf (1993) Introduction to MAPLE. New York: Springer-Verlag.

Google Scholar

[9] N G Zamani, J M Weaver (2010) CATIA V5 tutorials, Mechanism design and animation, Release 14 and 15, SDC Publications, Detroid.

Google Scholar