Kinematic Modeling of a Five-DOFs Spatial Manipulator used in Robot-Assisted Surgery

Publication date: Available online 11 July 2016 Source:Perspectives in Science Author(s): Shakti Singh, Ashish Singla, Amanpreet Singh, Sanjeev Soni, Sanjeev Verma Since last three decades, research in the field of robot kinematics is boosted-up among different researchers worldwide. This is mainly due to their increased use in various challenging fields of engineering and science. One such challenging application is the use of master-slave concept in a robot-assisted surgery. The authors have already performed the kinematic study and gravity balancing of seven degrees-of-freedom (DOFs) surgeon-side manipulator [5,6]. To meet these challenging demands, the most important aspect of a robotic manipulator is to develop an accurate kinematic model. In this direction, different researchers in the literature have made significant contributions. Out of these, the most prominent one is D-H parameters method, which was proposed by Denavit and Hartenberg in 1955. In the present work, this method is applied to a five-DOFs spatial manipulator, named as patient-side manipulator, which tracks the motion of surgeon-side manipulator during a robot-assisted surgery. The prototype considered in this work is a spatial serial manipulator, being developed at CSIR-CSIO Chandigarh. Experimental validations are performed and results are found to be in close agreement.

Source: Perspectives in Science - July 14, 2016 Category: Science Source Type: research