Modeling of a constraint force at RCM point in a needle insertion task
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Cha, Hyo jeong | - |
dc.contributor.author | Yi, Byung ju | - |
dc.date.accessioned | 2021-06-23T12:04:55Z | - |
dc.date.available | 2021-06-23T12:04:55Z | - |
dc.date.created | 2021-01-22 | - |
dc.date.issued | 2011-08 | - |
dc.identifier.issn | 2152-7431 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/39142 | - |
dc.description.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. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE | - |
dc.title | Modeling of a constraint force at RCM point in a needle insertion task | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Yi, Byung ju | - |
dc.identifier.doi | 10.1109/ICMA.2011.5986318 | - |
dc.identifier.scopusid | 2-s2.0-81055150484 | - |
dc.identifier.bibliographicCitation | 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, pp.2177 - 2182 | - |
dc.relation.isPartOf | 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 | - |
dc.citation.title | 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 | - |
dc.citation.startPage | 2177 | - |
dc.citation.endPage | 2182 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Closed-chains | - |
dc.subject.keywordPlus | Constraint forces | - |
dc.subject.keywordPlus | Force modeling | - |
dc.subject.keywordPlus | Kinematic constraints | - |
dc.subject.keywordPlus | Laparoscopic surgery | - |
dc.subject.keywordPlus | Minimally invasive surgery | - |
dc.subject.keywordPlus | Needle insertion | - |
dc.subject.keywordPlus | Needle-insertion task | - |
dc.subject.keywordPlus | RCM | - |
dc.subject.keywordPlus | Remote center of motions | - |
dc.subject.keywordPlus | Serial manipulators | - |
dc.subject.keywordPlus | Kinematics | - |
dc.subject.keywordPlus | Needles | - |
dc.subject.keywordPlus | Redundant manipulators | - |
dc.subject.keywordPlus | Transplantation (surgical) | - |
dc.subject.keywordPlus | Climate models | - |
dc.subject.keywordAuthor | Constraint force | - |
dc.subject.keywordAuthor | Force modeling | - |
dc.subject.keywordAuthor | Needle insertion | - |
dc.subject.keywordAuthor | RCM | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/5986318 | - |
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