Fuzzy Control of Laparoscopic Surgical Robot Designed for Use in Minimally Invasive Surgery

Authors

DOI:

Keywords:

Surgical robot, RCM mechanism, Lagrangian motion equations, fuzzy control

Abstract

Nowadays, the use of robot technologies has become widespread. Robots that have been confronted in many sectors have also been used in surgical operations in recent years. RCM (Remote Center of Motion) mechanisms take the place of these robots, which have less space-consuming and specially designed for operation. Reduced space requirements and lower maintenance costs are the greatest advantages of these mechanisms. In this study, some of the RCM mechanisms which used in surgical operations are mentioned. A unique and original surgical robot designed for laparoscopic surgical purposes which is not in the literature of robots, has been described. This surgical robot was designed with a 3D CAD program and motion of robot was analyzed. Robot control was performed using fuzzy control method. Dynamic equations of robot which used at fuzzy control were obtained with Lagrangian mechanics. MATLAB software has been used for robot control. Used membership function parameters of fuzzy control were optimized with genetic algorithm method. Obtained fuzzy control graphics with MATLAB were given in the result section.

Downloads

Download data is not yet available.

References

S. Aksungur and T. Koca, “Remote Center of Motion (RCM) Mechanisms for Surgical Operations”, International Journal of Applied Mathematics, Electronics and Computers, Vol. 3, No. 2, pp. 119-126, 2015

P. Xu, Y. Jingjun, and B. S. Z. Guanghua, “Enumeration and Type Synthesis of One-DOF Remote-Center-of-Motion Mechanisms,” in 12th IFToMM World Congress, , 2007, p.1-6.

M. Hadavand, A. Mirbagheri, H. Salarieh, and F. Farahmand, “Design of a Force-Reflective Master Robot for Haptic Telesurgery Applications: RoboMaster1” in 33rd Annual International Conference, 2011, p. 7037-7040.

J. Li, S. Wang, X. Wang, C. He, and L. Zhang, “Development of a Novel Mechanism for Minimally Invasive Surgery”, in International Conference on Robotics and Biomimetics, 2010, p. 1370-1375.

M. A. Laribi, T. Riviere, M. Arsicault, and S. Zeghloul, “A design of slave surgical robot based on motion capture” in International Conference on Robotics and Biomimetics, 2012, p. 600-605.

J. S. Won, S. W. Choi, and W. Peine, “Curved RCM of Surgical Robot Arm”, Patent WO 2009/104853 A1, Aug. 27,2009.

J. K. Hsu, T. Li, and S. Payandeh, “On Integration of a Novel Minimally Invasive Surgery Robotic System”, IEEE, 2005, p. 437-444.

B. F. Yousef, and F. M. T. Aiash, “A Mechanism for Surgical Tool Manipulation”, IEEE, 2013.

A. Üneri, M. A. Balicki, J. Handa, P. Gehlbach, R. H. Taylor, and I. Iordachita, “New Steady-Hand Eye Robot with Micro-Force Sensing for Vitreoretinal Surgery”, in 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2010, p.814-819.

K. M. Passino and S. Yurkovich, Fuzzy Control, 1st ed., California, USA: Addison Wesley Longman, 1997.

H. T. Nguyen, N. R. Prasad, C. L. Walker and E. A. Walker, A First course in Fuzzy and Neural Control, 1st ed., NY, USA: Chapman & Hall/CRC, 2002.

Downloads

Published

31-12-2018

Issue

Section

Research Articles

How to Cite

[1]
“Fuzzy Control of Laparoscopic Surgical Robot Designed for Use in Minimally Invasive Surgery”, J. Appl. Methods Electron. Comput., vol. 6, no. 4, pp. 65–70, Dec. 2018, Accessed: Oct. 07, 2024. [Online]. Available: https://ijamec.org/index.php/ijamec/article/view/262

Similar Articles

1-10 of 110

You may also start an advanced similarity search for this article.