Modeling of a constraint force at RCM point in a needle insertion task
- Authors
- Cha, Hyo jeong; Yi, Byung ju
- Issue Date
- Aug-2011
- Publisher
- IEEE
- Keywords
- Constraint force; Force modeling; Needle insertion; RCM
- Citation
- 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, pp.2177 - 2182
- Indexed
- SCOPUS
- Journal Title
- 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
- Start Page
- 2177
- End Page
- 2182
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/39142
- DOI
- 10.1109/ICMA.2011.5986318
- ISSN
- 2152-7431
- Abstract
- Minimally Invasive Surgery (MIS) is usually performed in a needle insertion or a laparoscopic surgery. To minimize an incision, Remote Center of Motion (RCM) has been applied to surgery. A surgical manipulator has to be placed exactly on the RCM point during the surgery. However, a constraint force to maintain the placement exists. It may affect a patient's skin, so the constraint force should be controlled to be zero. In order to derive the constraint force model, a simple serial manipulator is taken as an exemplary device. The kinematics is derived first. The serial manipulator fixed to the RCM point can be considered as a five-bar closed chain. To derive the constraint force model, an open-chain dynamics is obtained first, and then, the kinematic constraints is applied. As a result, the constraint force model can be derived. Finally, the constraint force is confirmed through simulations. © 2011 IEEE.
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