Author:
Ren Lin,Kong Kang,Dai YingKai,Liang Tao
Abstract
Abstract
The precise construction of the master-slave control strategy is a fundamental requirement for robot-assisted surgery. In this study, we propose a master-slave control strategy for gastrointestinal surgical robots based on the natural orifice transluminal endoscopic surgery surgical robot developed by Tianjin University. The forward and inverse kinematics of the continuum mechanism at the slave manipulator are investigated. A master-slave coordinate mapping system for surgical robots is established by analyzing the kinematic characteristics of the master and slave manipulators. Additionally, an intuitive mapping algorithm and a control flowchart for the robot are developed. The proportional control and incremental control strategies tailored for natural orifice transluminal endoscopic surgery procedures are proposed based on intuitive mapping control. Finally, a master-slave trajectory tracking experiment is performed to validate the feasibility of the proposed master-slave control strategy.
Subject
Computer Science Applications,History,Education
Reference13 articles.
1. Comparison of the burden of major gastrointestinal tumors in China and some countries around the world in 2020 [J];Zhou;Electronic Journal of Comprehensive Tumor Therapy,2021
2. Progress in the application of endoscopic technology in the diagnosis and treatment of early gastrointestinal cancer [J];Tang;Agricultural Reclamation Medicine,2022
3. A predictive model for the population of adjuvant therapy after endoscopic submucosal dissection for early esophageal lesions [J];Gulistan;World Journal of Chinese Digestion,2022
4. Robotic surgery techniques to improve traditional laparoscopy[J];Williamson;JSLS,2022
5. Advancement of technology and its impact on urologists: release of the Da Vinci Xi, a new surgical robotr[J];Wison;Eur Urol,2014