Omisore Olatunji M, Han Shi P, Ren Ling X, Zhao Zhi C, Wang Lei
Annu Int Conf IEEE Eng Med Biol Soc. 2018 Jul;2018:3669-3672. doi: 10.1109/EMBC.2018.8513292.
Snake-like robots are a typical serial-link manipulator newly adopted to assist human experts during medical procedures. Of the several prototypes that have been proposed for surgical repair of abdominal organs and delivery of radiation doses, only a very few attained FDA clearance and commercialization for clinical usage. This can be ascribed to complexities inherent with teleoperation of the redundant robots when controlled via single-ports or interactions with other organs both along the surgical path and the operation area. In this study, translated frame-based approach is adapted for forward kinematics of snake-like robots that have orthogonal joints. This is realized by modifying the conventional standard DH approach commonly used for frame translation in serial robots. The adapted method is validated with model of a newly proposed radiosurgical snake-like robot. Validation results show that adapted method requires reduced execution times for both workspace generation and inverse kinematics of the snake robot.
蛇形机器人是一种典型的串联连杆操纵器，最近被应用于协助医学专家进行医疗手术。在已提出的用于腹部器官手术修复和放射剂量输送的几种原型中，只有极少数获得了美国食品药品监督管理局（FDA）的批准并实现了临床应用的商业化。这可以归因于冗余机器人通过单端口控制时遥操作的复杂性，以及在手术路径和操作区域与其他器官的相互作用。在本研究中，基于平移框架的方法适用于具有正交关节的蛇形机器人的正向运动学。这是通过修改通常用于串联机器人框架平移的传统标准DH方法来实现的。所采用的方法通过一个新提出的放射外科蛇形机器人模型进行了验证。验证结果表明，所采用的方法在蛇形机器人的工作空间生成和逆运动学方面都需要减少执行时间。
