Kinematic error correction for minimally invasive surgical robots

Robots are useful tools in minimally invasive surgery, providing benefits such as reduction in hand tremor, navigation, and workspace scaling. Unfortunately, minimally invasive configurations result in two likely sources of kinematic error: port displacement and instrument shaft flexion. For a quasi...

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Bibliographic Details
Main Authors: Beasley, R.A., Howe, R.D., Dupont, P.E.
Format: Conference Proceeding
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Error correction
Exact sciences and technology
Instruments
Jacobian matrices
Kinematics
Laboratories
Medical robotics
Minimally invasive surgery
Navigation
Robotics
Robots
Shafts
Online Access:Request full text
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Description
Summary:Robots are useful tools in minimally invasive surgery, providing benefits such as reduction in hand tremor, navigation, and workspace scaling. Unfortunately, minimally invasive configurations result in two likely sources of kinematic error: port displacement and instrument shaft flexion. For a quasistatic system, a measure is presented that relates the errors in the robot Jacobian to the angular difference between desired motions and actual motions. Simulations and experimental data demonstrate this measure for a laboratory system. One potential use for the presented measure is, for bounded errors, determining whether the system monotonically converges for all initial and desired positions in the workspace. In addition, the measure is useful for path planning, determining less error-prone paths.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2004.1307176