Mechanism of a learning robot manipulator for laparoscopic surgical training

Tao Yang; Jiang Liu; Weimin Huang; Yi Su; Liangjing Yang; Chee Kong Chui; Marcelo H. Ang; Stephen K.Y. Chang

doi:10.1007/978-3-642-33932-5_3

Mechanism of a learning robot manipulator for laparoscopic surgical training

Tao Yang^*
, Jiang Liu
, Weimin Huang
, Yi Su
, Liangjing Yang
, Chee Kong Chui
, Marcelo H. Ang
, Stephen K.Y. Chang

^*Corresponding author for this work

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

9 Citations (Scopus)

Abstract

This paper presents a robot manipulator for hand-over-hand guidance training of laparoscopic surgery. Details of the mechanical design, kinematic analysis and control mechanism of the robot are presented. The robot records motion of surgical tool manipulated by master surgeon, and provides physical guidance to the trainee based on the recorded motion. The robotic manipulator can accurately reproduce the five degree of freedom manipulation of laparoscopic instrument during surgery. A hybrid spherical mechanism is applied for decoupling and reproducing the motion of surgical tool to facilitate implementation of control mechanism. The manipulators for left and right hands are capable of precise execution of a recorded trajectory with observed maximum error of 2.12 mm and 2 mm respectively during an experiment on user interaction.

Original language	English
Title of host publication	Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012
Publisher	Springer Verlag
Pages	17-26
Number of pages	10
Edition	VOL. 2
ISBN (Print)	9783642339318
DOIs	https://doi.org/10.1007/978-3-642-33932-5_3
Publication status	Published - 2013
Externally published	Yes
Event	12th International Conference on Intelligent Autonomous Systems, IAS 2012 - Jeju Island, Korea, Republic of Duration: 26 Jun 2012 → 29 Jun 2012

Publication series

Name	Advances in Intelligent Systems and Computing
Number	VOL. 2
Volume	194 AISC
ISSN (Print)	2194-5357

Conference

Conference	12th International Conference on Intelligent Autonomous Systems, IAS 2012
Country/Territory	Korea, Republic of
City	Jeju Island
Period	26/06/12 → 29/06/12

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 4 Quality Education

Free Keywords

Laparoscopy
Robot manipulator
Surgical training

ASJC Scopus subject areas

Control and Systems Engineering
General Computer Science

Access to Document

10.1007/978-3-642-33932-5_3

Cite this

Yang, T., Liu, J., Huang, W., Su, Y., Yang, L., Chui, C. K., Ang, M. H., & Chang, S. K. Y. (2013). Mechanism of a learning robot manipulator for laparoscopic surgical training. In Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012 (VOL. 2 ed., pp. 17-26). (Advances in Intelligent Systems and Computing; Vol. 194 AISC, No. VOL. 2). Springer Verlag. https://doi.org/10.1007/978-3-642-33932-5_3

@inproceedings{fe4e267a5fa64ec0a7d93e638c199ed0,

title = "Mechanism of a learning robot manipulator for laparoscopic surgical training",

abstract = "This paper presents a robot manipulator for hand-over-hand guidance training of laparoscopic surgery. Details of the mechanical design, kinematic analysis and control mechanism of the robot are presented. The robot records motion of surgical tool manipulated by master surgeon, and provides physical guidance to the trainee based on the recorded motion. The robotic manipulator can accurately reproduce the five degree of freedom manipulation of laparoscopic instrument during surgery. A hybrid spherical mechanism is applied for decoupling and reproducing the motion of surgical tool to facilitate implementation of control mechanism. The manipulators for left and right hands are capable of precise execution of a recorded trajectory with observed maximum error of 2.12 mm and 2 mm respectively during an experiment on user interaction.",

keywords = "Laparoscopy, Robot manipulator, Surgical training",

author = "Tao Yang and Jiang Liu and Weimin Huang and Yi Su and Liangjing Yang and Chui, \{Chee Kong\} and Ang, \{Marcelo H.\} and Chang, \{Stephen K.Y.\}",

year = "2013",

doi = "10.1007/978-3-642-33932-5\_3",

language = "English",

isbn = "9783642339318",

series = "Advances in Intelligent Systems and Computing",

publisher = "Springer Verlag",

number = "VOL. 2",

pages = "17--26",

booktitle = "Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012",

address = "Germany",

edition = "VOL. 2",

}

Yang, T, Liu, J, Huang, W, Su, Y, Yang, L, Chui, CK, Ang, MH & Chang, SKY 2013, Mechanism of a learning robot manipulator for laparoscopic surgical training. in Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012. VOL. 2 edn, Advances in Intelligent Systems and Computing, no. VOL. 2, vol. 194 AISC, Springer Verlag, pp. 17-26, 12th International Conference on Intelligent Autonomous Systems, IAS 2012, Jeju Island, Korea, Republic of, 26/06/12. https://doi.org/10.1007/978-3-642-33932-5_3

Mechanism of a learning robot manipulator for laparoscopic surgical training. / Yang, Tao; Liu, Jiang; Huang, Weimin et al.
Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012. VOL. 2. ed. Springer Verlag, 2013. p. 17-26 (Advances in Intelligent Systems and Computing; Vol. 194 AISC, No. VOL. 2).

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Mechanism of a learning robot manipulator for laparoscopic surgical training

AU - Yang, Tao

AU - Liu, Jiang

AU - Huang, Weimin

AU - Su, Yi

AU - Yang, Liangjing

AU - Chui, Chee Kong

AU - Ang, Marcelo H.

AU - Chang, Stephen K.Y.

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AB - This paper presents a robot manipulator for hand-over-hand guidance training of laparoscopic surgery. Details of the mechanical design, kinematic analysis and control mechanism of the robot are presented. The robot records motion of surgical tool manipulated by master surgeon, and provides physical guidance to the trainee based on the recorded motion. The robotic manipulator can accurately reproduce the five degree of freedom manipulation of laparoscopic instrument during surgery. A hybrid spherical mechanism is applied for decoupling and reproducing the motion of surgical tool to facilitate implementation of control mechanism. The manipulators for left and right hands are capable of precise execution of a recorded trajectory with observed maximum error of 2.12 mm and 2 mm respectively during an experiment on user interaction.

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KW - Robot manipulator

KW - Surgical training

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M3 - Conference contribution

AN - SCOPUS:84872823066

SN - 9783642339318

T3 - Advances in Intelligent Systems and Computing

SP - 17

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BT - Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012

PB - Springer Verlag

T2 - 12th International Conference on Intelligent Autonomous Systems, IAS 2012

Y2 - 26 June 2012 through 29 June 2012

ER -

Mechanism of a learning robot manipulator for laparoscopic surgical training

Abstract

Publication series

Conference

UN SDGs

Free Keywords

ASJC Scopus subject areas

Access to Document

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