Notice of retraction
Vol. 32, No. 8(2), S&M2292

ISSN (print) 0914-4935
ISSN (online) 2435-0869
Sensors and Materials
is an international peer-reviewed open access journal to provide a forum for researchers working in multidisciplinary fields of sensing technology.
Sensors and Materials
is covered by Science Citation Index Expanded (Clarivate Analytics), Scopus (Elsevier), and other databases.

Instructions to authors
English    日本語

Instructions for manuscript preparation
English    日本語

Template
English

Publisher
 MYU K.K.
 Sensors and Materials
 1-23-3-303 Sendagi,
 Bunkyo-ku, Tokyo 113-0022, Japan
 Tel: 81-3-3827-8549
 Fax: 81-3-3827-8547

MYU Research, a scientific publisher, seeks a native English-speaking proofreader with a scientific background. B.Sc. or higher degree is desirable. In-office position; work hours negotiable. Call 03-3827-8549 for further information.


MYU Research

(proofreading and recording)


MYU K.K.
(translation service)


The Art of Writing Scientific Papers

(How to write scientific papers)
(Japanese Only)

Sensors and Materials, Volume 32, Number 4(1) (2020)
Copyright(C) MYU K.K.
pp. 1223-1233
S&M2172 Research Paper of Special Issue
https://doi.org/10.18494/SAM.2020.2618
Published: April 10, 2020

Asymmetric Bimanual Control of Dual-arm Serial Manipulator for Robot-assisted Minimally Invasive Surgeries [PDF]

Hang Su, Yunus Schmirander, Sarah Elena Valderrama-Hincapie, Jairo Pinedo, Xuanyi Zhou, Jiehao Li, Longbin Zhang, Yingbai Hu, Giancarlo Ferrigno, and Elena De Momi

(Received September 13, 2019; Accepted February 20, 2020)

Keywords: bimanual control, minimally invasive surgery, radial basis function neural network, redundant manipulator, remote center of motion

Robotic assistance is promising for improving minimally invasive surgery (MIS). This work presents asymmetric bimanual control of a dual-arm serial robot with two remote centers of motion (RCMs) constraints for MIS. In our previous works, general null space controllers to guarantee the fixed RCM constraint have been proposed. However, an incision on a patient’s abdominal wall is not fixed owing to the respiration of the patient, which generates an uncertain disturbance at the joints of robotic manipulators. To improve accuracy, a radial basis function neural network is implemented to adapt to these disturbances and control the end-effector position. Finally, the adaptive bimanual control strategy is validated through simulations based on clinical data. The proposed control shows improved accuracy in the end effector position for all the designed surgical tasks. In future works, the algorithm will be validated on an actual dual-arm serial robot making use of a body phantom.

Corresponding author: Yingbai Hu


Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.

Cite this article
Hang Su, Yunus Schmirander, Sarah Elena Valderrama-Hincapie, Jairo Pinedo, Xuanyi Zhou, Jiehao Li, Longbin Zhang, Yingbai Hu, Giancarlo Ferrigno, and Elena De Momi, Asymmetric Bimanual Control of Dual-arm Serial Manipulator for Robot-assisted Minimally Invasive Surgeries, Sens. Mater., Vol. 32, No. 4, 2020, p. 1223-1233.



Forthcoming Regular Issues


Forthcoming Special Issues

Special Issue on International Conference on BioSensors, BioElectronics, BioMedical Devices, BioMEMS/NEMS and Applications 2019 (Bio4Apps 2019) (1)
Guest editor, Hirofumi Nogami and Masaya Miyazaki (Kyushu University)
Conference website


Special Issue on Optical Sensors: Novel Materials, Approaches, and Applications
Guest editor, Yap Wing Fen (Universiti Putra Malaysia)


Special Issue on Intelligent Sensing Control Analysis, Optimization, and Automation (2)
Guest editor, Cheng-Chi Wang (National Chin-Yi University of Technology)


Special Issue on Geomatics Technologies for the Realization of Smart Cities (2)
Guest editor, He Huang and XiangLei Liu (Beijing University of Civil Engineering and Architecture)


Special Issue on Cyber–Physical Systems (CPS) and Internet of Things (IoT)
Guest editor, Yutaka Arakawa (Kyushu University)


Special Issue on Sensors and Materials Emerging Investigators in Japan
Guest editor, Tsuyoshi Minami (The University of Tokyo)


Copyright(C) MYU K.K. All Rights Reserved.