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Open Surgery
Laparoscopic Surgery
Minimally Invasive Robotic Surgery
Laparoscopic Surgery
In laparoscopic surgery, the surgeon makes several small incisions and inserts small tools,
including a video camera to perform the procedure. The video images are displayed on a
monitor and the surgeon watches the screen to move the tools and do his or her work.
Limitations:
Only 2D view of operation field is available
Surgeons also deals with the reduce sensation(how much force is exerted on the tip
of instruments)
Tools can have a limited range of motion
To overcome these limitations, we evolve a new surgery method, called Minimally Invasive
Robotic Surgery.
Robotic Surgery changes the nature of surgery. Robotic surgery allows surgeons to perform
complex surgical procedures using a minimally invasive approach. It's also much more precise than
even the most skilled doctor with the steadiest hand.
Aesop 3000
Working Key-Point
a 3-D image of the procedure while simultaneously maneuvering the robotic arms.
The doctor controls the robotic arms via two foot pedals and two hand controllers.
Time Robotic Surgery takes more time then typically a surgery take. In-fact this is variable
Further Implementations:
With the help of Technology and Research reduce size and cost.
Degree of Freedom(DOF): DOF is the number of independent parameters that define its
configuration.
Roll: Oscillation about horizontal axis.
Yaw: Oscillation about vertical axis.
Pitch: Oscillation about perpendicular to both vertical and horizontal axis.
A human arm is considered to have 7 DOF Shoulder gives Pitch,Yaw and Roll.
Elbow allows for Pitch.
Wrist allows for Pitch,Yaw and Roll.
Only 3 of those movements would be necessary to move the hand to any point in the space Shoulders Pitch and Yaw.
Elbows Pitch.
In 3 DOF arm motion, people lack the ability to grasp thing from different angle and direction.
Kinematics: Studies the motion of object without reference to the force that cause the motion.
Robot Kinematic: Refers to the analytical study of the motion of Robots Manipulator.
Types of Robot Kinematics:
Forward Kinematic: Refers to the computation of the position of the end-effector from
the specified values for the joint parameter.
Inverse Kinematic: Computes the joint parameter that achieve a specified position of
the end effector.
use to initially determine the location of the widget (in camera coordinates). We might need to
transform that location into world coordinates to evaluate if it is accessible to the robot at all, and to
gripper coordinates to determine when we should close the jaws of the gripper. For flexibility, we use
different coordinate frames i.e., as shown in figure 4, for camera frame x-axis is perpendicular to
camera whereas for shoulder x-axis is in the direction of shoulder.
Fig.4: A very simple robot arm with one joint and one gripper. The world, camera, joint,
and gripper coordinate frames are indicated.
Thus we need different coordination frames for different system in robotic arm. Therefore we need a
transformation method which is used for conversion between coordinate frames.
Homogeneous Transformation:
Note: Superscript(T) is used to show transpose of a matrix.
Representation of a Point:
The point (x,y,z) in homogeneous transform is represented as the vector [x y z 1]T, where 1
is the weighting factor, means [x y z 1]T is equal to [2x 2y 2z 2]T.
Transforming Points Between Coordinate Frames:
Case 1: When Coordinate Frames are differ by TranslationSuppose that to get from the coordinate frame p to the coordinate frame q we need to move a
units along ps x axis, b units along ps y axis, and c units along ps z axis. Then to take a point from q
coordinates to p coordinates, you need to pre-multiply it by the matrix [ 1 0 0 a
0 1 0 b
0 0 1 c
0 0 0 1 ] to get the location
in p coordinate frame.
We call the matrix that converts a point from q coordinates to p coordinates, the homogeneous
transformation from q coordinates to p coordinates, and we abbreviate this as Tqp.
The nickname for this transformation is: Trans (a, b, c).
Fig.5:
Forward
Kinematic
of a
Robotic
Arm.
(i1)
As shown in Figure 5,
Distance from Zi-1 to Zi measured along Xi-1 is assigned as ai-1 .
Angle between Zi-1 and Zi measured along Xi is assigned as i-1 .
Distance from Xi-1 to Xi measured along Zi is assigned as di .
Angle between Xi-1 to Xi measured about Zi is assigned as i .
The general transformation matrix i1i T for a single link can be obtained as follows:
i1
T=Rx(i1 )* Transx(ai1)*Rz(i)*Transz(di).
[1
0
0
0 cosi1 -sini1
Therefore, i1i T = 0 sini1 cosi1
0
0
0
=[
cosi
sinicosi1
sinisini1
0
0 *[1
0
0
0
0
1] 0
0
1
0
0
0
0
1
0
0
1
0
0
0
0
1
0
0
0
di
1]
-sini
0
ai1
cosicosi1 -sini1 -sini1di
cosisini1 -cosi1 -cosi1di
0
0
1
]
Thus, to convert a point in elbows coordinate frame into shoulders coordinate frame, multiply
the point by i1i T matrix.