A Virtual Fixtures Control Method of Surgical Robot Based on Human Arm Kinematics Model
Physical human-robot interaction(pHRI) is the most popular way to ensure the safety in robot surgery. Current research of pHRI in operation room focuses on the inside of the surgical area, which adapts virtual fixtures method for ensuring the safety of drag. But the safety problems caused by human e...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8844680/ |
| _version_ | 1818668271777349632 |
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| author | Andi Lin Yucun Tang Minfeng Gan Lixin Huang Shaolong Kuang Lining Sun |
| author_facet | Andi Lin Yucun Tang Minfeng Gan Lixin Huang Shaolong Kuang Lining Sun |
| author_sort | Andi Lin |
| collection | DOAJ |
| description | Physical human-robot interaction(pHRI) is the most popular way to ensure the safety in robot surgery. Current research of pHRI in operation room focuses on the inside of the surgical area, which adapts virtual fixtures method for ensuring the safety of drag. But the safety problems caused by human error in the stage of dragging the robot from the outside surgical area to the inside surgical area are ignored. Therefore, a method of applying virtual fixtures to the outside of the surgical area is proposed to solve the safety issues during dragging stage outside surgical area. This method takes the kinematics model of human arm as the reference motion trajectory to construct the guided virtual fixtures, which is to restrict the robot movement in a defined area during the pHRI drag. This drag is based on admittance control method to improve safety and ensure flexibility. Experiment results show that the constructed guided virtual fixtures with the trajectory of the human arm model as the central axis, with radius 30mm, and restrict area 5mm can effectively limit the robot motion to a certain range. Simultaneously, the output speed of the robot in tangent direction of the central axis can well follow the change of the force applied by the doctor, and the output speed in the normal direction of the central axis can converge to zero stably at the pipeline boundary. Consequently, the purpose of improving the safety and flexibility of the surgical robot before surgical operation is realized. |
| first_indexed | 2024-12-17T06:33:40Z |
| format | Article |
| id | doaj.art-4a55e5420c704a3eba62ae123f25ea8a |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-17T06:33:40Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-4a55e5420c704a3eba62ae123f25ea8a2022-12-21T22:00:04ZengIEEEIEEE Access2169-35362019-01-01713565613566410.1109/ACCESS.2019.29423198844680A Virtual Fixtures Control Method of Surgical Robot Based on Human Arm Kinematics ModelAndi Lin0https://orcid.org/0000-0002-6387-1503Yucun Tang1Minfeng Gan2Lixin Huang3Shaolong Kuang4Lining Sun5School of Mechanical and Electrical Engineering, Soochow University, Suzhou, ChinaSchool of Mechanical and Electrical Engineering, Soochow University, Suzhou, ChinaThe First Affiliated Hospital of Soochow University, Suzhou, ChinaThe First Affiliated Hospital of Soochow University, Suzhou, ChinaSchool of Mechanical and Electrical Engineering, Soochow University, Suzhou, ChinaSchool of Mechanical and Electrical Engineering, Soochow University, Suzhou, ChinaPhysical human-robot interaction(pHRI) is the most popular way to ensure the safety in robot surgery. Current research of pHRI in operation room focuses on the inside of the surgical area, which adapts virtual fixtures method for ensuring the safety of drag. But the safety problems caused by human error in the stage of dragging the robot from the outside surgical area to the inside surgical area are ignored. Therefore, a method of applying virtual fixtures to the outside of the surgical area is proposed to solve the safety issues during dragging stage outside surgical area. This method takes the kinematics model of human arm as the reference motion trajectory to construct the guided virtual fixtures, which is to restrict the robot movement in a defined area during the pHRI drag. This drag is based on admittance control method to improve safety and ensure flexibility. Experiment results show that the constructed guided virtual fixtures with the trajectory of the human arm model as the central axis, with radius 30mm, and restrict area 5mm can effectively limit the robot motion to a certain range. Simultaneously, the output speed of the robot in tangent direction of the central axis can well follow the change of the force applied by the doctor, and the output speed in the normal direction of the central axis can converge to zero stably at the pipeline boundary. Consequently, the purpose of improving the safety and flexibility of the surgical robot before surgical operation is realized.https://ieeexplore.ieee.org/document/8844680/Physical human-robot interactionsecurity control strategyarm kinematicsvirtual fixturessurgical robot |
| spellingShingle | Andi Lin Yucun Tang Minfeng Gan Lixin Huang Shaolong Kuang Lining Sun A Virtual Fixtures Control Method of Surgical Robot Based on Human Arm Kinematics Model IEEE Access Physical human-robot interaction security control strategy arm kinematics virtual fixtures surgical robot |
| title | A Virtual Fixtures Control Method of Surgical Robot Based on Human Arm Kinematics Model |
| title_full | A Virtual Fixtures Control Method of Surgical Robot Based on Human Arm Kinematics Model |
| title_fullStr | A Virtual Fixtures Control Method of Surgical Robot Based on Human Arm Kinematics Model |
| title_full_unstemmed | A Virtual Fixtures Control Method of Surgical Robot Based on Human Arm Kinematics Model |
| title_short | A Virtual Fixtures Control Method of Surgical Robot Based on Human Arm Kinematics Model |
| title_sort | virtual fixtures control method of surgical robot based on human arm kinematics model |
| topic | Physical human-robot interaction security control strategy arm kinematics virtual fixtures surgical robot |
| url | https://ieeexplore.ieee.org/document/8844680/ |
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