Kinematic modelling and trajectory planning for a tele-laparoscopic manipulating system

Robotica

Volumn 18, Issue 4, 2000, Pages 347-360

  Faraz, Ali ^a   Payandeh, Shahram ^a  

^a SIMON FRASER UNIVERSITY   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

BIOMEDICAL EQUIPMENT; COMPUTER SIMULATION; CONSTRAINT THEORY; END EFFECTORS; EQUATIONS OF MOTION; INVERSE KINEMATICS; MATHEMATICAL MODELS; MEDICAL APPLICATIONS; MOTION CONTROL; MOTION PLANNING; REMOTE CONTROL; SURGERY;

KINEMATIC MODELLING; TELELAPAROSCOPIC SYSTEM; TRAJECTORY PLANNING;

MANIPULATORS;

EID: 0034225974     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S026357479900209X     Document Type: Article

References (10)

1. Computer Motion Inc., AESOP: Automated Endoscopic Systems for Optimal Positioning, (1994).
2. A. Faraz and S. Payandeh, "A Robotic case Study: Optimal Design of Laparoscopic Positioning Stand," Int. J. Robotics Research, 17, No 9, 986-995 (1998).
3. A. Faraz and S. Payandeh, Laparoscopic Positioning Stand, (US Patent ≠5,766,180).
4. R. Taylor, J. Funda et al. "A Telerobotic Assistant for laparoscopic Surgery," IEEE. Engineering in Medicine and Biology Magazine 14, 279-288 (1995).
5. A. Faraz and S. Payandeh, "Issues and Design Concepts in Endoscopic Extenders," Proceedings of 6th IFAC/MMS Symposium, (1995) pp. 109-114.
6. A. Melzer, "Intelligent Surgical Instrument Systems," J. Endoscopic Surgery and Allied Technologies 1, 165-170 (1993).
7. B. Neisius, P. Dautzenberg and R. Trapp, "Robotic manipulator for Endoscopie handling of Surgical Effectors and Cameras," Proceedings of 1st International Conference on Medical Robotics and Computer Assisted Surgery, (1994) pp. 1-7.
8. P. Green, J. Hill and A. Shah, "Telepresence Surgery," IEEE. Engineering in Medicine and Biology Magazine 14, 324-320 (1995).
9. K. Waldron, S. Bolin and S. Wang, "A Study of the Jacobian Matrix of Serial Manipulators," Transaction of ASME, 107, 230-238 (1985).
10. A. Faraz and S. Payandeh, "Synthesis and Work-Space Study of Endoscopic Extenders with flexible Stems," Transaction of ASME, Journal of Mechanical Design 119, No 3, pp. 412-414 (1997).