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

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

doi:10.1007/11866565_70

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

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

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 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 language	English
Title of host publication	Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006 - 9th International Conference, Proceedings
Publisher	Springer Verlag
Pages	570-577
Number of pages	8
ISBN (Print)	3540447075, 9783540447078
DOIs	https://doi.org/10.1007/11866565_70
Publication status	Published - 2006
Event	9th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006 - Copenhagen, Denmark Duration: 2006 Oct 1 → 2006 Oct 6

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	4190 LNCS - I
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	9th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006
Country/Territory	Denmark
City	Copenhagen
Period	06/10/1 → 06/10/6

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/11866565_70

Cite this

Park, S., Lim, H., Kim, B. S., & Song, J. B. (2006). Development of safe mechanism for surgical robots using equilibrium point control method. In Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006 - 9th International Conference, Proceedings (pp. 570-577). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4190 LNCS - I). Springer Verlag. https://doi.org/10.1007/11866565_70

Development of safe mechanism for surgical robots using equilibrium point control method. / Park, Shinsuk; Lim, Hokjin; Kim, Byeong Sang et al.

Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006 - 9th International Conference, Proceedings. Springer Verlag, 2006. p. 570-577 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4190 LNCS - I).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Park, S, Lim, H, Kim, BS & Song, JB 2006, Development of safe mechanism for surgical robots using equilibrium point control method. in Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006 - 9th International Conference, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 4190 LNCS - I, Springer Verlag, pp. 570-577, 9th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006, Copenhagen, Denmark, 06/10/1. https://doi.org/10.1007/11866565_70

Park S, Lim H, Kim BS, Song JB. Development of safe mechanism for surgical robots using equilibrium point control method. In Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006 - 9th International Conference, Proceedings. Springer Verlag. 2006. p. 570-577. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/11866565_70

Park, Shinsuk ; Lim, Hokjin ; Kim, Byeong Sang et al. / Development of safe mechanism for surgical robots using equilibrium point control method. Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006 - 9th International Conference, Proceedings. Springer Verlag, 2006. pp. 570-577 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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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.",

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AB - 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.

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ER -

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

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