TY - JOUR
T1 - Motion and trajectory constraints control modeling for flexible surgical robotic systems
AU - Omisore, Olatunji Mumini
AU - Han, Shipeng
AU - Al-Handarish, Yousef
AU - Du, Wenjing
AU - Duan, Wenke
AU - Akinyemi, Toluwanimi Oluwadara
AU - Wang, Lei
N1 - Funding Information:
This work was supported by the National Natural Science Foundation of China (#U1505251, #U1713219); the National Outstanding Youth Science Fund Project of the National Natural Science Foundation of China (#61950410618); the Guangdong Innovative Research Team Program (#2011S013); the OutstandingYouth Innovation Research Fund of Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences (#Y8G0381001); the Shenzhen Natural Science Foundation of China (#JCYJ20190812173205538); and the Chinese Academy of Sciences President's International Fellowship Initiative (#2020PB0005).
Funding Information:
Funding: This work was supported by the National Natural Science Foundation of China (#U1505251, #U1713219); the National Outstanding Youth Science Fund Project of the National Natural Science Foundation of China (#61950410618); the Guangdong Innovative Research Team Program (#2011S013); the Outstanding Youth Innovation Research Fund of Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences (#Y8G0381001); the Shenzhen Natural Science Foundation of China (#JCYJ20190812173205538); and the Chinese Academy of Sciences President’s International Fellowship Initiative (#2020PB0005).
Publisher Copyright:
© 2020 by the authors.
PY - 2020/4/1
Y1 - 2020/4/1
N2 - Success of the da Vinci surgical robot in the last decade has motivated the development of flexible access robots to assist clinical experts during single-port interventions of core intrabody organs. Prototypes of flexible robots have been proposed to enhance surgical tasks, such as suturing, tumor resection, and radiosurgery in human abdominal areas; nonetheless, precise constraint control models are still needed for flexible pathway navigation. In this paper, the design of a flexible snake-like robot is presented, along with the constraints model that was proposed for kinematics and dynamics control, motion trajectory planning, and obstacle avoidance during motion. Simulation of the robot and implementation of the proposed control models were done in Matlab. Several points on dierent circular paths were used for evaluation, and the results obtained show the model had a mean kinematic error of 0.37 ± 0.36 mm with very fast kinematics and dynamics resolution times. Furthermore, the robot's movement was geometrically and parametrically continuous for three dierent trajectory cases on a circular pathway. In addition, procedures for dynamic constraint and obstacle collision detection were also proposed and validated. In the latter, a collision-avoidance scheme was kept optimal by keeping a safe distance between the robot's links and obstacles in the workspace. Analyses of the results showed the control system was optimal in determining the necessary joint angles to reach a given target point, and motion profiles with a smooth trajectory was guaranteed, while collision with obstacles were detected a priori and avoided in close to real-time. Furthermore, the complexity and computational eort of the algorithmic models were negligibly small. Thus, the model can be used to enhance the real-time control of flexible robotic systems.
AB - Success of the da Vinci surgical robot in the last decade has motivated the development of flexible access robots to assist clinical experts during single-port interventions of core intrabody organs. Prototypes of flexible robots have been proposed to enhance surgical tasks, such as suturing, tumor resection, and radiosurgery in human abdominal areas; nonetheless, precise constraint control models are still needed for flexible pathway navigation. In this paper, the design of a flexible snake-like robot is presented, along with the constraints model that was proposed for kinematics and dynamics control, motion trajectory planning, and obstacle avoidance during motion. Simulation of the robot and implementation of the proposed control models were done in Matlab. Several points on dierent circular paths were used for evaluation, and the results obtained show the model had a mean kinematic error of 0.37 ± 0.36 mm with very fast kinematics and dynamics resolution times. Furthermore, the robot's movement was geometrically and parametrically continuous for three dierent trajectory cases on a circular pathway. In addition, procedures for dynamic constraint and obstacle collision detection were also proposed and validated. In the latter, a collision-avoidance scheme was kept optimal by keeping a safe distance between the robot's links and obstacles in the workspace. Analyses of the results showed the control system was optimal in determining the necessary joint angles to reach a given target point, and motion profiles with a smooth trajectory was guaranteed, while collision with obstacles were detected a priori and avoided in close to real-time. Furthermore, the complexity and computational eort of the algorithmic models were negligibly small. Thus, the model can be used to enhance the real-time control of flexible robotic systems.
KW - Inverse kinematics
KW - Minimally invasive surgery
KW - Motion control
KW - Robot dynamics
KW - Snake-like robots
KW - Trajectory planning
UR - http://www.scopus.com/inward/record.url?scp=85084681530&partnerID=8YFLogxK
U2 - 10.3390/MI11040386
DO - 10.3390/MI11040386
M3 - Article
AN - SCOPUS:85084681530
SN - 2072-666X
VL - 11
JO - Micromachines
JF - Micromachines
IS - 4
M1 - 386
ER -