On the dynamic modeling of a bevel-geared surgical robotic mechanism

Xiaoli Zhang, Carl A Nelson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The use of robotics to enhance visualization and tissue manipulation capabilities is contributing to the advancement of minimally invasive surgery (MIS). For the development of surgical robot manipulators, the use of advanced dynamic control is an important aspect at the design stage to determine the driving forces and/or torques which must be exerted by the actuators in order to produce a desirable trajectory of the end effector. Therefore, this study focuses on the generation of inverse dynamic models for a spherical bevel-geared mechanism called CoBRASurge (Compact Bevel-geared Robot for Advanced Surgery), which is used as a surgical tool manipulator. For given typical trajectories of end effectors in clinical experiments, the motion of each element in the mechanism can be derived using the inverse kinematic equations. The driving torques exerted by actuators can be determined according to the presented inverse dynamic formulations. The simulation results of CoBRASurge reveal the nature of the driving torques in spherical bevel-geared mechanisms. Such models can be used for the design of advanced dynamic control systems, including gravity compensation and haptic interfaces for enhanced surgical functionality. In addition, sensitivity analysis of mass contribution has been performed to evaluate the effect of individual elements on the peak driving torques, which provides a solid guideline for the design of the next-generation CoBRASurge prototype. The present dynamic modeling methodology also presents a general dynamic analysis approach for other spherical articulated linkage mechanisms.

Original languageEnglish (US)
Title of host publicationASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010
Pages19-28
Number of pages10
EditionPARTS A AND B
DOIs
StatePublished - Dec 1 2010
EventASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010 - Montreal, QC, Canada
Duration: Aug 15 2010Aug 18 2010

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A AND B
Volume2

Conference

ConferenceASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010
CountryCanada
CityMontreal, QC
Period8/15/108/18/10

Fingerprint

Dynamic Modeling
Surgery
Torque
Robotics
Inverse Dynamics
Robot
Dynamic Control
Robots
End effectors
Manipulators
Actuator
Actuators
Trajectories
Trajectory
Minimally Invasive Surgery
Haptic Interface
Haptic interfaces
Inverse Model
Inverse Kinematics
Inverse kinematics

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

Cite this

Zhang, X., & Nelson, C. A. (2010). On the dynamic modeling of a bevel-geared surgical robotic mechanism. In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010 (PARTS A AND B ed., pp. 19-28). (Proceedings of the ASME Design Engineering Technical Conference; Vol. 2, No. PARTS A AND B). https://doi.org/10.1115/DETC2010-28371

On the dynamic modeling of a bevel-geared surgical robotic mechanism. / Zhang, Xiaoli; Nelson, Carl A.

ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010. PARTS A AND B. ed. 2010. p. 19-28 (Proceedings of the ASME Design Engineering Technical Conference; Vol. 2, No. PARTS A AND B).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Zhang, X & Nelson, CA 2010, On the dynamic modeling of a bevel-geared surgical robotic mechanism. in ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010. PARTS A AND B edn, Proceedings of the ASME Design Engineering Technical Conference, no. PARTS A AND B, vol. 2, pp. 19-28, ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010, Montreal, QC, Canada, 8/15/10. https://doi.org/10.1115/DETC2010-28371
Zhang X, Nelson CA. On the dynamic modeling of a bevel-geared surgical robotic mechanism. In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010. PARTS A AND B ed. 2010. p. 19-28. (Proceedings of the ASME Design Engineering Technical Conference; PARTS A AND B). https://doi.org/10.1115/DETC2010-28371
Zhang, Xiaoli ; Nelson, Carl A. / On the dynamic modeling of a bevel-geared surgical robotic mechanism. ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010. PARTS A AND B. ed. 2010. pp. 19-28 (Proceedings of the ASME Design Engineering Technical Conference; PARTS A AND B).
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