Workspace, dexterity and position planning of a 5DOF single-hole laparoscopic surgery robot
This paper aims to optimize the dexterity and best preoperative position of single-hole laparoscopic surgery (SHLS) robot in laparoscopic surgery. A 5DOF SHLS robot was designed with a series-parallel hybrid structure, and the inverse kinematics equation and Jacobian matrix of the SHLS robot were de...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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The Japan Society of Mechanical Engineers
2019-08-01
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| Series: | Journal of Biomechanical Science and Engineering |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/jbse/14/2/14_18-00544/_pdf/-char/en |
| _version_ | 1811224763136212992 |
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| author | Heqiang TIAN Jianyong LI Chenling ZHENG Jiakun JIANG |
| author_facet | Heqiang TIAN Jianyong LI Chenling ZHENG Jiakun JIANG |
| author_sort | Heqiang TIAN |
| collection | DOAJ |
| description | This paper aims to optimize the dexterity and best preoperative position of single-hole laparoscopic surgery (SHLS) robot in laparoscopic surgery. A 5DOF SHLS robot was designed with a series-parallel hybrid structure, and the inverse kinematics equation and Jacobian matrix of the SHLS robot were derived, together with the positioning workspace. Then, The dexterity of the SILS robot was analyzed by the conditional number of Jacobian matrix. For the preoperative position, the original gradient projection method was described theoretically, the minimum distance between endoscope end and lesion was taken the objective function, and the position planning based on gradient projection method was used to establish a planning model for the end endoscope position of the robot. And, the optimal position planning based on gradient projection algorithm was applied to the preoperative positioning analysis of the SHLS robot and the MATLAB software was used to simulate position planning. The simulation results further testify that the feasibility and correctness of the workspace, dexterity and positioning plan of SHLS robot, and validates that the SILS robot has a reasonable workspace, sufficient dexterity and optimal position planning to meet the needs of single-incision laparoscopic surgery. |
| first_indexed | 2024-04-12T08:54:34Z |
| format | Article |
| id | doaj.art-1c0061bdff514ba9ad93180f5068ac9e |
| institution | Directory Open Access Journal |
| issn | 1880-9863 |
| language | English |
| last_indexed | 2024-04-12T08:54:34Z |
| publishDate | 2019-08-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Journal of Biomechanical Science and Engineering |
| spelling | doaj.art-1c0061bdff514ba9ad93180f5068ac9e2022-12-22T03:39:25ZengThe Japan Society of Mechanical EngineersJournal of Biomechanical Science and Engineering1880-98632019-08-0114218-0054418-0054410.1299/jbse.18-00544jbseWorkspace, dexterity and position planning of a 5DOF single-hole laparoscopic surgery robotHeqiang TIAN0Jianyong LI1Chenling ZHENG2Jiakun JIANG3College of Mechanical and Electronic Engineering, Shandong University of Science and TechnologyCollege of Mechanical and Electronic Engineering, Shandong University of Science and TechnologyCollege of Mechanical and Electronic Engineering, Shandong University of Science and TechnologyCollege of Mechanical and Electronic Engineering, Shandong University of Science and TechnologyThis paper aims to optimize the dexterity and best preoperative position of single-hole laparoscopic surgery (SHLS) robot in laparoscopic surgery. A 5DOF SHLS robot was designed with a series-parallel hybrid structure, and the inverse kinematics equation and Jacobian matrix of the SHLS robot were derived, together with the positioning workspace. Then, The dexterity of the SILS robot was analyzed by the conditional number of Jacobian matrix. For the preoperative position, the original gradient projection method was described theoretically, the minimum distance between endoscope end and lesion was taken the objective function, and the position planning based on gradient projection method was used to establish a planning model for the end endoscope position of the robot. And, the optimal position planning based on gradient projection algorithm was applied to the preoperative positioning analysis of the SHLS robot and the MATLAB software was used to simulate position planning. The simulation results further testify that the feasibility and correctness of the workspace, dexterity and positioning plan of SHLS robot, and validates that the SILS robot has a reasonable workspace, sufficient dexterity and optimal position planning to meet the needs of single-incision laparoscopic surgery.https://www.jstage.jst.go.jp/article/jbse/14/2/14_18-00544/_pdf/-char/ensingle-hole laparoscopic surgery (shls) robotworkspacedexterityposition planning |
| spellingShingle | Heqiang TIAN Jianyong LI Chenling ZHENG Jiakun JIANG Workspace, dexterity and position planning of a 5DOF single-hole laparoscopic surgery robot Journal of Biomechanical Science and Engineering single-hole laparoscopic surgery (shls) robot workspace dexterity position planning |
| title | Workspace, dexterity and position planning of a 5DOF single-hole laparoscopic surgery robot |
| title_full | Workspace, dexterity and position planning of a 5DOF single-hole laparoscopic surgery robot |
| title_fullStr | Workspace, dexterity and position planning of a 5DOF single-hole laparoscopic surgery robot |
| title_full_unstemmed | Workspace, dexterity and position planning of a 5DOF single-hole laparoscopic surgery robot |
| title_short | Workspace, dexterity and position planning of a 5DOF single-hole laparoscopic surgery robot |
| title_sort | workspace dexterity and position planning of a 5dof single hole laparoscopic surgery robot |
| topic | single-hole laparoscopic surgery (shls) robot workspace dexterity position planning |
| url | https://www.jstage.jst.go.jp/article/jbse/14/2/14_18-00544/_pdf/-char/en |
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