Performance Evaluation for Multi-arm Manipulation of Hollow Suspended Organs

被引：57

作者：

Wei, Wei ^{[1
]}

Goldman, Roger E. ^{[1
]}

Fine, Howard F. ^{[2
]}

Chang, Stanley ^{[2
]}

Simaan, Nabil ^{[1
]}

机构：

[1] Columbia Univ, Dept Mech Engn, New York, NY 10027 USA

[2] Columbia Univ, Dept Ophthalmol, New York, NY 10032 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2009年 / 25卷 / 01期

基金：

美国国家科学基金会;

关键词：

Dexterity; hybrid robots; medical robotics; multiple-arm manipulation; ophthalmic surgery; MANIPULATABILITY; ROBOT;

D O I：

10.1109/TRO.2008.2006865

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a unified mathematical framework for modeling and evaluating the performance of multiple robotic arms that operate on hollow suspended organs. This framework is applied to a novel two-armed hybrid robotic system being developed for ophthalmic vitreous surgeries. Four cases ere designated to capture the general movements required for any surgical procedure associated with hollow suspended organs. Dexterity measures, based on multiple characteristic lengths, are presented for procedures corresponding to these manipulation cases. Simulation results of the dual-arm robotic system for ophthalmic surgery are presented for all four manipulation cases. A comparison of this robotic system with current surgical tools shows a significant improvement in intraocular dexterity.

引用

页码：147 / 157

页数：11

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