Earticle

초록

영어

Recent development of robot technology is revolutionizing the medical field. The concept of using robot assistance in medical surgery has been receiving more and more recognition throughout the world. Robot-assisted surgery has the advantage of reducing surgeons' hand tremor, decreasing post-operative complications, reducing patients' pains, and increasing operation dexterity inside the patients' body. Robotic assistants have been broadly used in many medical fields such as orthopedics, neurology, urology and cardiology, and robot assisted surgery is keeping expanding its influences in more general medical field. This research study aims at utilizing advanced robotics manipulator technologies to help surgeons perform delicate procedures associated with surgery. The Four-axis Virtual Robot arm (FVR) is a MATLAB-based computer program, which can be used to simulate the functions of a real robotic manipulator in terms of design parameters, movement and control. It has been designed with adjustable kinematic parameters to mimic a 4-axis articulate robotic manipulator with revolute joints having 4 degrees of freedom. The FVR can be manipulated using direct kinematics to change the spatial orientation of virtual objects in three dimensions. Picking and placing of virtual objects can be done by using the virtual proximity sensors and virtual touch sensors incorporated in to the jaw design of the FVR. Furthermore, it can be trained to perform a sequence of movements repeatedly, to simulate the function of a real surgical robotic manipulator. All steps to modeling are discussed in this research. Proportional-Integral-Derivative control technique is used to control of FVR.

목차

Abstract
 1. Introduction and Background
 2. Surgical Robot Manipulator
 3. Design and Modeling PID Control Technique for Surgical Robot
 4. Results
 5. Conclusion
 References

키워드

저자

• Farzin Piltan [ Intelligent System and Robotic Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran ]
• Ali Taghizadegan [ Intelligent System and Robotic Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran ]
• Nasri B Sulaiman [ Intelligent System and Robotic Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran, Department of Electrical Engineering, Faculty of Engineering, University Putra Malaysia, Malaysia ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Hybrid Information Technology

• 간기

  격월간

• pISSN

  1738-9968

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605