On constrained manipulation in robotics-assisted minimally invasive surgery

2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

Volumn , Issue , 2010, Pages 650-655

  Azimian, Hamidreza ^a,b   Patel, Rajni V ^a,b   Naish, Michael D ^a,b  

^a LAWSON HEALTH RESEARCH INSTITUTE   (Canada)

^b UNIVERSITY OF WESTERN ONTARIO   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ACTIVE COMPLIANT; GOVERNING EQUATIONS; MANIPULABILITY; MINIMALLY INVASIVE SURGERY; MITSUBISHI; NUMERICAL SIMULATION; REMOTE CENTER OF MOTIONS; SURGICAL TASKS; TROCAR KINEMATICS;

KINEMATICS; MANIPULATORS; MOTION CONTROL; ROBOTICS; SURGERY;

ROBOTS;

EID: 78650372576     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/BIOROB.2010.5627985     Document Type: Conference Paper

References (25)

1. T. Ortmaier and G. Hirzinger, "Cartesian control issues for minimally invasive robot surgery, " in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan, Nov. 2000, pp. 565-571.
2. R. Locke and R. V. Patel, "Optimal remote center of motion for robotics-assisted minimally invasive surgery, " in Proceedings of the IEEE International Conference on Robotics and Automation, Roma, Italy, Apr. 2007, pp. 1900-1905.
3. J. Funda, R. H. Taylor, B. Eldridge, S. Gomory, and K. G. Gruben, "Constrained Cartesian motion control for teleoperated surgical robots, " IEEE Transactions on Robotics and Automation, vol. 12, no. 3, pp. 453-465, Jun. 1996.
4. M. Li and R. Taylor, "Performance of surgical robots with automatically generated spatial virtual fixtures, " in Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, Spain, Apr. 2005, pp. 217-222.
5. M. Li, A. Kapoor, and R. Taylor, "A constrained optimization approach to virtual fixtures, " in Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Alberta, Canada, Aug. 2005, pp. 1408-1413.
6. H. Mayer, I. Nagy, and A. Knoll, On Advances in Robot Kinematics. Springer, 2004, ch. Kinematic and Modeling of a System for Robotic Surgery.
7. Y. Nakamura, Advanced Robotics: Redundancy and Optimization. Addison Wesley Publishing Company, 1991.
8. D. Nechev, "Restricted Jacobian matrices for redundant manipulators in constrained motion tasks, " The International Journal of Robotics Research, vol. 11, pp. 584-597, 1992.
9. A. Maciejewski and C. Klein, "Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments, " The International Journal of Robotics Research, vol. 4, no. 3, pp. 109- 117, 1985.
10. P. Chiacchio, S. Chiaverini, S. Sciavicco, and B. Siciliano, "Closedloop inverse kinematics schemes for constrained redundant manipulators with task-space augmentation and task priority strategy, " The International Journal of Robotic Research, vol. 10, no. 4, pp. 410- 425, 1991.
11. S. Chiaverini, "Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators, " IEEE Transactions on Robotics and Automation, vol. 13, no. 3, pp. 398-410, Jun. 1997.
12. T. Yoshikawa, "Manipulability of robotic mechanisms, " The International Journal of Robotic Research, vol. 4, no. 2, pp. 3-9, 1985.
13. J. Angeles, "The design of isotropic manipulator architectures in the presence of redundancies, " The International Journal of Robotic Research, vol. 11, no. 3, pp. 196-201, Jun. 1992.
14. J. Salisbury and J. Craig, "Articulated hands: force control and kinematic issues, " The International Journal of Robotic Research, vol. 1, no. 1, pp. 4-17, 1982. (Pubitemid 13510801)
15. F. Park and J. Kim, "Manipulability of closed kinematic chains, " Journal of Mechanical Design, vol. 120, no. 4, pp. 542-548, 1998.
16. K. van den Doel and D. Pai, "Performance measures for robot manipulators: A unified approach, " The International Journal of Robotics Research, vol. 15, no. 1, pp. 92-111, 1996.
17. K. van den Doel and D. Pai, "Performance measures for constrained systems, " IEEE Transactions on Robotics and Automation, vol. 13, no. 2, pp. 278-289, Apr. 1997.
18. C. Gosselin and J. Angeles, "A global performance index for the kinematic optimization of robotic manipulators, " Journal of Mechanical Design, vol. 113, no. 1, pp. 220-226, Sep. 1991.
19. K. L. Doty, C. Melchiorri, E. M. Schwartz, and C. Bonivento, "Robot manipulability, " IEEE Transaction on Robotics and Automation, vol. 11, no. 3, pp. 462-468, 1995.
20. L. Stocco, S. Salcudean, and F. Sassani, "On the use of scaling matrices for task specific robot design, " IEEE Transaction on Robotics and Automation, vol. 15, no. 5, pp. 958-965, Oct. 1999.
21. A. L. Trejos, R. Patel, I. Ross, and B. Kiaii, "Optimizing port placement for robot-assisted minimally invasive cardiac surgery, " International Journal of Medical Robotics and Computer Assisted Surgery, vol. 3, no. 4, pp. 355-364, Dec. 2007.
22. M. Cavusoglu, I. Villanueva, and F. Tendick, "Workspace analysis of robotic manipulators for a teleoperated suturing task, " in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, Hawaii, USA, Nov. 2001, pp. 2234-2239.
23. L. Sun and C. Yeung, "Port placement and pose selection of da Vinci surgical system for collision-free intervention based on performance optimization, " in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. San Diego, CA, USA, Oct. 2007, pp. 1951-1956.
24. L. Stocco, S. Salcudean, and F. Sassani, "Fast constrained global minmax optimization of robot, " Robotica, vol. 16, pp. 595-605, 1998.
25. C. Cao, C. Mackenzie, and S. Payandeh, "Task and motion analysis in endoscopic surgery, " in ASME IMECE Conference Proceedings: 5th Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Atlanta, Georgia, USA, 1996, pp. 583-590.