Active constraint control for the surgical robotic platform with concentric connector joints
Article
Morad, S., Ulbricht, C., Harkin, P., Chan, J., Parker, K. and Vaidyanathan, R. 2024. Active constraint control for the surgical robotic platform with concentric connector joints. Medical Engineering & Physics. 132 (Art. 104236). https://doi.org/10.1016/j.medengphy.2024.104236
Authors | Morad, S., Ulbricht, C., Harkin, P., Chan, J., Parker, K. and Vaidyanathan, R. |
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Abstract | Robotic minimally invasive surgery (MIS) has changed numerous surgical techniques in the past few years and enhanced their results. Haptic feedback is integrated into robotic surgical systems to restore the surgeon's perception of forces in response to interaction with objects in the surgical environment. The ideal exact emulation of the robot's interaction with its physical environment in free space is a very challenging problem to solve completely. Previously, we introduced the surgical robotic platform (SRP) with a novel concentric connector joint (CCJ). This study aims to develop a haptic control system that integrates an active constraint controller into a surgical robot platform. We have successfully established haptic feedback control for the surgical robot using constraint control and inverse kinematic relationships integrated into the overall positioning structure. A preliminary feasibility study, modelling, and simulation were presented. |
Journal | Medical Engineering & Physics |
Journal citation | 132 (Art. 104236) |
ISSN | 1350-4533 |
1873-4030 | |
Year | 2024 |
Publisher | Elsevier |
Publisher's version | License File Access Level Anyone |
Digital Object Identifier (DOI) | https://doi.org/10.1016/j.medengphy.2024.104236 |
Publication dates | |
Online | 02 Sep 2024 |
Publication process dates | |
Accepted | 02 Sep 2024 |
Deposited | 12 Nov 2024 |
Copyright holder | © 2024 The Authors |
https://repository.uel.ac.uk/item/8y716
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