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

Shin Suk Park, Hokjin Lim, Byeong sang Kim, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingChapter

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 ... International Conference on Medical Image Computing and Computer-Assisted Intervention
Pages570-577
Number of pages8
Volume9
EditionPt 1
Publication statusPublished - 2006 Dec 1

Fingerprint

Joints
Robotics
Arm
Extremities
Transducers
Electric Impedance

ASJC Scopus subject areas

  • Medicine(all)

Cite this

Park, S. 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 ... International Conference on Medical Image Computing and Computer-Assisted Intervention (Pt 1 ed., Vol. 9, pp. 570-577)

Development of safe mechanism for surgical robots using equilibrium point control method. / Park, Shin Suk; Lim, Hokjin; Kim, Byeong sang; Song, Jae-Bok.

Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. Vol. 9 Pt 1. ed. 2006. p. 570-577.

Research output: Chapter in Book/Report/Conference proceedingChapter

Park, SS, Lim, H, Kim, BS & 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 ... International Conference on Medical Image Computing and Computer-Assisted Intervention. Pt 1 edn, vol. 9, pp. 570-577.
Park SS, Lim H, Kim BS, Song J-B. Development of safe mechanism for surgical robots using equilibrium point control method. In Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. Pt 1 ed. Vol. 9. 2006. p. 570-577
Park, Shin Suk ; Lim, Hokjin ; Kim, Byeong sang ; Song, Jae-Bok. / Development of safe mechanism for surgical robots using equilibrium point control method. Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. Vol. 9 Pt 1. ed. 2006. pp. 570-577
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