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    Actuation and Control Strategies for Miniature Robotic Surgical Systems

    Source: Journal of Dynamic Systems, Measurement, and Control:;2005:;volume( 127 ):;issue: 004::page 537
    Author:
    Jason M. Stevens
    ,
    Gregory D. Buckner
    DOI: 10.1115/1.2098892
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: During the past 20years, tremendous advancements have been made in the fields of minimally invasive surgery (MIS) and minimally invasive, robotically assisted (MIRA) cardiac surgery. Benefits from MIS include reduced pain and trauma, reduced risks of post-operative complications, shorter recovery times, and more aesthetically pleasing results. MIRA approaches have extended the capabilities of MIS by introducing three-dimensional vision, eliminating hand tremors, and enabling the precise articulation of smaller instruments. These advancements come with their own drawbacks, however. Robotic systems used in MIRA cardiac procedures are large, costly, and do not offer the miniaturized articulation necessary to facilitate tremendous advancements in MIS. This paper demonstrates that miniature actuation can overcome some of the limitations of current robotic systems by providing accurate, repeatable control of a small end effector. A 10× model of a two link surgical manipulator is developed, using antagonistic shape memory alloy wires as actuators, to simulate motions of a surgical end-effector. Artificial neural networks are used in conjunction with real-time visual feedback to “learn” the inverse system dynamics and control the manipulator endpoint trajectory. Experimental results are presented for indirect, on-line learning and control. Manipulator tip trajectories are shown to be accurate and repeatable to within 0.5mm. These results confirm that SMAs can be effective actuators for miniature surgical robotic systems, and that intelligent control can be used to accurately control the trajectory of these systems.
    keyword(s): Sampling (Acoustical engineering) , Robotics , Surgery , Manipulators , Actuators , Instrumentation , Artificial neural networks AND Motion ,
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      Actuation and Control Strategies for Miniature Robotic Surgical Systems

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    contributor authorJason M. Stevens
    contributor authorGregory D. Buckner
    date accessioned2017-05-09T00:15:39Z
    date available2017-05-09T00:15:39Z
    date copyrightDecember, 2005
    date issued2005
    identifier issn0022-0434
    identifier otherJDSMAA-26348#537_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/131508
    description abstractDuring the past 20years, tremendous advancements have been made in the fields of minimally invasive surgery (MIS) and minimally invasive, robotically assisted (MIRA) cardiac surgery. Benefits from MIS include reduced pain and trauma, reduced risks of post-operative complications, shorter recovery times, and more aesthetically pleasing results. MIRA approaches have extended the capabilities of MIS by introducing three-dimensional vision, eliminating hand tremors, and enabling the precise articulation of smaller instruments. These advancements come with their own drawbacks, however. Robotic systems used in MIRA cardiac procedures are large, costly, and do not offer the miniaturized articulation necessary to facilitate tremendous advancements in MIS. This paper demonstrates that miniature actuation can overcome some of the limitations of current robotic systems by providing accurate, repeatable control of a small end effector. A 10× model of a two link surgical manipulator is developed, using antagonistic shape memory alloy wires as actuators, to simulate motions of a surgical end-effector. Artificial neural networks are used in conjunction with real-time visual feedback to “learn” the inverse system dynamics and control the manipulator endpoint trajectory. Experimental results are presented for indirect, on-line learning and control. Manipulator tip trajectories are shown to be accurate and repeatable to within 0.5mm. These results confirm that SMAs can be effective actuators for miniature surgical robotic systems, and that intelligent control can be used to accurately control the trajectory of these systems.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleActuation and Control Strategies for Miniature Robotic Surgical Systems
    typeJournal Paper
    journal volume127
    journal issue4
    journal titleJournal of Dynamic Systems, Measurement, and Control
    identifier doi10.1115/1.2098892
    journal fristpage537
    journal lastpage549
    identifier eissn1528-9028
    keywordsSampling (Acoustical engineering)
    keywordsRobotics
    keywordsSurgery
    keywordsManipulators
    keywordsActuators
    keywordsInstrumentation
    keywordsArtificial neural networks AND Motion
    treeJournal of Dynamic Systems, Measurement, and Control:;2005:;volume( 127 ):;issue: 004
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian