Inverse sub-problem solving for minimally invasive surgical robot based on screw theory

被引：0
|
作者：
Song T. [1 ]
Pan B. [1 ]
Li G. [1 ]
Fu Y. [1 ]
机构：
[1] State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin
来源：
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2023年 / 51卷 / 02期
关键词：
elimination theory; inverse kinematics; minimally invasive surgical robot; Paden-Kahan sub-problems; screw theory;
D O I：
10.13245/j.hust.230209
中图分类号：
学科分类号：
摘要：
A new prismatic-revolute-revolute (PRR) type of Paden-Kahan sub-problem was proposed to solve the joint inverse solution of surgical instrument when the three axes of minimally invasive surgical robotic instrument did not intersect at one point．The inverse solution of the active joint was solved by using the screw theory and elimination theory，and the new sub-problem was described as a point rotates about two vertical axes in space and then moved in a straight direction to the specified position．The three joint axes in the sub-problem are perpendicular in space，and the solving method of the inverse kinematics for the sub-problem was presented in this paper．Based on the Huaque III minimally invasive surgical robot，whose active joint axes intersect at one point and the joint axes of surgical instrument are perpendicular to each other in space，the validity of the inverse kinematics method for the new sub-problem was verified by an example calculation of arbitrarily given motion variables．The experiment result meets the requirements of high precision master-slave control. © 2023 Huazhong University of Science and Technology. All rights reserved.
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页码：89 / 94
页数：5
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