Development of safe mechanism for surgical robots using equilibrium point control method

Shinsuk Park, Hokjin Lim, Byeong Sang Kim, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

This paper introduces a novel mechanism for surgical robotic systems to generate human arm-like compliant motion. The mechanism is based on the idea of the equilibrium point control hypothesis which claims that multi-joint limb movements are achieved by shifting the limbs' equilibrium positions defined by neuromuscular activity. The equilibrium point control can be implemented on a robot manipulator by installing two actuators at each joint of the manipulator, one to control the joint position, and the other to control the joint stiffness. This double-actuator mechanism allows us to arbitrarily manipulate the stiffness (or impedance) of a robotic manipulator as well as its position. Also, the force at the end-effector can be estimated based on joint stiffness and joint angle changes without using force transducers. A two-link manipulator and a three-link manipulator with the double-actuator units have been developed, and experiments and simulation results show the potential of the proposed approach. By creating the human arm-like behavior, this mechanism can improve the performance of robot manipulators to execute stable and safe movement in surgical environments by using a simple control scheme.

Original languageEnglish
Title of host publicationMedical Image Computing and Computer-Assisted Intervention, MICCAI 2006 - 9th International Conference, Proceedings
PublisherSpringer Verlag
Pages570-577
Number of pages8
ISBN (Print)3540447075, 9783540447078
DOIs
Publication statusPublished - 2006
Event9th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006 - Copenhagen, Denmark
Duration: 2006 Oct 12006 Oct 6

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume4190 LNCS - I
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other9th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006
CountryDenmark
CityCopenhagen
Period06/10/106/10/6

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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