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Print: ISSN 0914-4935
Online: ISSN 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.
Online: ISSN 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.
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Sensors and Materials
is covered by Science Citation Index Expanded (Clarivate Analytics), Scopus (Elsevier), and other databases.
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Sensors and Materials
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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.
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  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. |
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