Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots
[EN] Surgeries or rehabilitation exercises are hazardous tasks for a mechanical system, as the device has to interact with parts of the human body without the hands-on experience that the surgeon or physiotherapist acquires over time. For various gynecological laparoscopic surgeries, such as laparos...
| Authors: | ; ; ; ; ; |
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| Format: | Article |
| Publication date: | 2021 |
| Country: | España |
| Institution: | Universitat Politècnica de València (UPV) |
| Repository: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Language: | English |
| OAI Identifier: | oai:riunet.upv.es:10251/186754 |
| Online Access: | https://riunet.upv.es/handle/10251/186754 |
| Access Level: | Open access |
| Keyword: | Inertial parameters Parameter identification Assistance robot Force sensor Surgery robot Robot control INGENIERIA DE SISTEMAS Y AUTOMATICA INGENIERIA MECANICA |
| _version_ | 1878735462359629824 |
|---|---|
| author | Zamora-Ortiz, Pau |
| author2 | Carral-Alvaro, Javier Pulloquinga-Zapata, José Escarabajal-Sánchez, Rafael José Valera Fernández, Ángel|||0000-0001-6843-6394 Mata Amela, Vicente|||0000-0003-2255-0567 |
| author2_role | author author author author author |
| author_browse | Carral-Alvaro, Javier Escarabajal-Sánchez, Rafael José Mata Amela, Vicente|||0000-0003-2255-0567 Pulloquinga-Zapata, José Valera Fernández, Ángel|||0000-0001-6843-6394 Zamora-Ortiz, Pau |
| author_facet | Zamora-Ortiz, Pau Carral-Alvaro, Javier Pulloquinga-Zapata, José Escarabajal-Sánchez, Rafael José Valera Fernández, Ángel|||0000-0001-6843-6394 Mata Amela, Vicente|||0000-0003-2255-0567 |
| author_role | author |
| collection | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| description | [EN] Surgeries or rehabilitation exercises are hazardous tasks for a mechanical system, as the device has to interact with parts of the human body without the hands-on experience that the surgeon or physiotherapist acquires over time. For various gynecological laparoscopic surgeries, such as laparoscopic hysterectomy or laparoscopic pelvic endometriosis, Uterine Manipulators are used. These medical devices allow the uterus to be suitably mobilized. A gap needs to be filled in terms of the precise handling of this type of devices. In this sense, this manuscript first describes the mathematical procedure to identify the inertial parameters of uterine manipulators. These parameters are needed to establish an accurate position and force control for an electromechanical system to assist surgical operations. The method for identifying the mass and the center of mass of the manipulator is based on the solution of the equations for the static equilibrium of rigid solids. Based on the manipulator inertial parameter estimation, the paper shows how the force exerted by the manipulator can be obtained. For this purpose, it solves a matrix system composed of the torques and forces of the manipulator. Different manipulators have been used, and it has been verified that the mathematical procedures proposed in this work allow us to calculate in an accurate and efficient way the force exerted by these manipulators. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | ES_7d325e1f5dc4d6eb03b75e971925bbfa |
| institution | Universitat Politècnica de València (UPV) |
| instname_str | Universitat Politècnica de València (UPV) |
| language | eng |
| network_acronym_str | ES |
| network_name_str | España |
| oai_identifier_str | oai:riunet.upv.es:10251/186754 |
| publishDate | 2021 |
| publishDateSort | 2021 |
| publisher | MDPI AG |
| publisherStr | MDPI AG |
| reponame_str | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| spelling | Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots Zamora-Ortiz, Pau Carral-Alvaro, Javier Pulloquinga-Zapata, José Escarabajal-Sánchez, Rafael José Valera Fernández, Ángel|||0000-0001-6843-6394 Mata Amela, Vicente|||0000-0003-2255-0567 Inertial parameters Parameter identification Assistance robot Force sensor Surgery robot Robot control INGENIERIA DE SISTEMAS Y AUTOMATICA INGENIERIA MECANICA [EN] Surgeries or rehabilitation exercises are hazardous tasks for a mechanical system, as the device has to interact with parts of the human body without the hands-on experience that the surgeon or physiotherapist acquires over time. For various gynecological laparoscopic surgeries, such as laparoscopic hysterectomy or laparoscopic pelvic endometriosis, Uterine Manipulators are used. These medical devices allow the uterus to be suitably mobilized. A gap needs to be filled in terms of the precise handling of this type of devices. In this sense, this manuscript first describes the mathematical procedure to identify the inertial parameters of uterine manipulators. These parameters are needed to establish an accurate position and force control for an electromechanical system to assist surgical operations. The method for identifying the mass and the center of mass of the manipulator is based on the solution of the equations for the static equilibrium of rigid solids. Based on the manipulator inertial parameter estimation, the paper shows how the force exerted by the manipulator can be obtained. For this purpose, it solves a matrix system composed of the torques and forces of the manipulator. Different manipulators have been used, and it has been verified that the mathematical procedures proposed in this work allow us to calculate in an accurate and efficient way the force exerted by these manipulators. The authors wish to thank the "Agencia Valenciana de la Innovacio" (Generalitat Valenciana) for the partial funding of this study under the project with reference INNCON00/20/002. We also want to thank the "Instituto Universitario de Automatica e Informatica Industrial (ai2)" of the "Universitat Politecnica de Valencia" for its financial support under the program "Plan de ayudas a la I+D+I del Instituto ai2". MDPI AG https://riunet.upv.es/handle/10251/186754 |
| spellingShingle | Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots Zamora-Ortiz, Pau Inertial parameters Parameter identification Assistance robot Force sensor Surgery robot Robot control INGENIERIA DE SISTEMAS Y AUTOMATICA INGENIERIA MECANICA |
| title | Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots |
| title_full | Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots |
| title_fullStr | Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots |
| title_full_unstemmed | Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots |
| title_short | Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots |
| title_sort | Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots |
| topic | Inertial parameters Parameter identification Assistance robot Force sensor Surgery robot Robot control INGENIERIA DE SISTEMAS Y AUTOMATICA INGENIERIA MECANICA |
| topic_facet | Inertial parameters Parameter identification Assistance robot Force sensor Surgery robot Robot control INGENIERIA DE SISTEMAS Y AUTOMATICA INGENIERIA MECANICA |
| url | https://riunet.upv.es/handle/10251/186754 |