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Application of Robotic Manipulator

in Medicine & Health-care


Main Evolution of Surgery:

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.

Benefits over Open Surgery:

Have Small incision


Less Blood Loss
Less Pain
Less Noticeable Scars

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.

Minimally Invasion Robotic Surgery(MIRS)


MIRS is similarly to a laparoscopic procedure. The difference with MIRS is that the surgeon
sits at a computer and uses hand controls to manipulate the robot rather than holding and
manipulating the tools themselves, as with laparoscopic surgery.

Benefits over Laparoscopic Surgery:


Imagery is 3D, high definition and magnified.
Sensors are used on the instruments to feel sensation
Instruments used are wristed-they move like a hand. Thus greater range of motion.

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.

Some Robot Surgical Systems:


Name

Da Vinci Surgical System

Zeus Robot Surgical System

Aesop 3000

Hermes Control Center

Socrates Robotic Telecollaboration


System

Working Key-Point

Working of Da Vinci Surgical System:


Components of Da Vinci Surgical System:
Robot itself(which operates on the patient)
Robot has three small robotic arms that attach to various instruments and one
arm holds an endoscopic camera that gives the surgeon 3-D vision from the control
console.

Fig.1: Da Vinci Surgical System's Robot.


Separate control console (which is controlled by a surgeon)
Robot and its many arms are controlled by the surgeon, who sits in a separate
console. While operating, the surgeon looks through eye holes in the machine to see

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.

Fig.2: Da Vinci Surgical System's Console.


The robot translates the doctor's movements and carries them out through the robotic arms, which
operate on the patient. The robotic arms enter the patient through tiny incisions. The robot takes the
doctor's movements and makes them much more precise and efficient.

Drawbacks of Present Robotic Surgery:

Time Robotic Surgery takes more time then typically a surgery take. In-fact this is variable

depending on the surgeon's expertise and practice with the equipment.


Cost Robotic systems are very expensive and it is the main obstacle in its expension.

Compatibility- Size of Robotic System is very large.

Further Implementations:

Make easy to use Robotic System.

With the help of Technology and Research reduce size and cost.

Design a 3 Degree of Freedom


Robotic Arm
Some Terminology and Key-Points:

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.

Fig.3: Illustration of Yaw,Pitch And Roll.

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 of Multiple Coordinate Frames in Robotic Arm:


It is very common in robotic arm to use two or more coordinate frames to solve a problem. For
example, consider the simple robot arm depicted in Figure 4. If we want to have the gripper pick up a
widget, then we need to figure out the widgets location. For location determination we use camera that

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).

Case 2: When Coordinate Frames are differ by Rotation:


Suppose that to get from the coordinate frame p to the coordinate frame q we rotate about the z-axis
by ,then we can pre-multiply a point in q coordinates by the matrix [ cos -sin 0 0
sin cos 0 0
0
0 1 0
0
0 0 1 ] to get the
location in p coordinate frame.
The nickname for this transformation is: Rot z().
Similarly,to get from the coordinate frame p to the coordinate frame q we rotate about the x-axis by
, then we can pre-multiply a point in q coordinates by the matrix[ 1
0
0 0
0 cos -sin 0
0 sin cos 0
0 0
0
1 ] to get the
location in p coordinate frame.
The nickname for this transformation is: Rot x().
Also,to get from the coordinate frame p to the coordinate frame q we rotate about the y-axis by
,then we can pre-multiply a point in q coordinates by the matrix [ cos 0 sin 0
0 1
0
0
-sin 0 cos 0
0 0
0
1 ] to get the
location in p coordinate frame.
The nickname for this transformation is: Rot y().
Case 3: When Coordinate Frames are differ by both Translation and Rotation:
The approach for this is called moving coordinate systems. In moving coordinate systems,
each step happens relative to the steps that have come before it. The approach will be shown in
Forward Kinematic, which is next.
Forward Kinematic of 3DOF Robotic Arm:
Denavit-Hartenberg method that uses four parameters is the most common method for
describing the robot kinematics.
These parameters ai-1 ,i 1 , di and i are the link length, link twist, link offset and joint angle,
respectively.
A coordinate frame is attached to each joint to determine parameters. Figure 5 shows the
coordinate frame assignment for a general manipulator.
Here, we considered only Shoulders (Pitch,Yaw) and Elbows(Pitch).

Fig.5:
Forward
Kinematic
of a
Robotic
Arm.

(i1)

coordinate frame represents shoulders frame of a robotic arm.


(i) coordinate frame represents elbows frame of a robotic arm.
(i-1) coordinate frame represents end-effectors frame of a robotic arm.

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

ai1 * [ cosi -sini 0 0 * [ 1


0
sini cos i 0 0
0
0
0
0
1 0
0
1]
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.

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