Cable-Driven Mechanism Models for Sensitive and Actuated Minimally Invasive Robotic Instruments
Source abstract
Abstract
Cable-driven mechanism models are, usually, included in actuated systems; however, recently, their use for sensitive systems has been explored. In this paper, two cable-driven multi-body mechanism models are compared, underlining advantages and constraints in using sensitive cable-driven mechanisms for minimally invasive robotic instruments. The proposed approach could be useful in bypassing sterilization problems for surgical robotic instruments because our system allows for the separation of the robotic sterilizable part from the sensitive-actuated part of the surgical instrument. The real implementation of the proposed mechanism models, presented partially in other works, are validated in this paper, performing a simulation using a multi-body environment. Results confirm the feasibility of the proposed sensitive-actuated approach, defining new bases for the next challenges of the future.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Soft Robotics and Applications · Prosthetics and Rehabilitation Robotics · Robotic Mechanisms and Dynamics
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Engineering for Innovation Medicine, Section of Engineering and Physics, University of Verona, Ca’ Vignal 2-Strada Le Grazie 15, 37134 Verona, Italy
Funding
European Union
References (34)
Show source-provided references
1. Analysis of surgical outcomes of laparoscopic versus open surgery for locally advanced mid-transverse colon cancer10.1007/s00423-023-02963-9 ↗
2. The role of technology in minimally invasive surgery: State of the art, recent developments and future directions10.1136/postgradmedj-2016-134311 ↗
3. Research progress and development trend of surgical robot and surgical instrument arm10.1002/rcs.2309 ↗
4. Force-Torque Sensors for Minimally Invasive Surgery Robotic Tools: An overview10.1109/TMRB.2023.3261102 ↗
5. Muscolo, G.G., and Fiorini, P. (2023). A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms. Machines, 11.10.3390/machines11060617 ↗
6. A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm
7. Multi-objective optimal design of a cable driven parallel robot for rehabilitation tasks10.1016/j.mechmachtheory.2020.104141 ↗
8. A cable-driven robot for architectural constructions: A visual-guided approach for motion control and path-planning10.1007/s10514-016-9609-6 ↗
9. Forward kinematics for suspended under-actuated cable-driven parallel robots with elastic cables: A neural network approach10.1115/1.4054407 ↗
10. Development of cable-driven anthropomorphic robot hand10.1109/LRA.2021.3056375 ↗
11. Coordinated dynamic control in the task space for redundantly actuated cable-driven parallel robots10.1109/TMECH.2020.3038852 ↗
12. Muscolo, G.G., and Fiorini, P. (2024). A Planar Cable-Driven Under-Sensing Model to Measure Forces and Displacements. Machines, 12.10.3390/machines12020129 ↗
13. Lin, B., Xu, W., Li, W., Yuan, H., and Liang, B. (2024). Ex Situ Sensing Method for the End-Effector’s Six-Dimensional Force and Link’s Contact Force of Cable-Driven Redundant Manipulators. IEEE Trans. Ind. Inform.10.1109/TII.2024.3369248 ↗
14. A cable driven robotic palpation system with contact force sensing based on cable tension observation10.1002/rcs.2435 ↗
15. Tension vector and structure matrix associated force sensitivity of a 6-DOF cable-driven parallel robot10.1177/09544062211026344 ↗
16. Guagliumi, L., Berti, A., Monti, E., Fabritius, M., Martin, C., and Carricato, M. (2024). Force-Sensor-Free Implementation of a Hybrid Position–Force Control for Overconstrained Cable-Driven Parallel Robots. Robotics, 13.10.3390/robotics13020025 ↗
17. Force-distribution sensitivity to cable-tension errors in overconstrained cable-driven parallel robots10.1016/j.mechmachtheory.2022.104940 ↗
18. Sensitivity Analysis of a Suspended Cable-Driven Parallel Robot to Design Parameters10.1115/1.4056234 ↗
19. A nullspace-based force correction method to improve the dynamic performance of cable-driven parallel robots10.1016/j.mechmachtheory.2022.105177 ↗
20. An experimental study about haptic feedback in robotic surgery: May visual feedback substitute tactile feedback?10.1007/s11701-015-0541-0 ↗
21. Design of a dexterous robotic surgical instrument with a novel bending mechanism10.1002/rcs.2334 ↗
22. A robotic surgical tool with continuum wrist, kinematically optimized curved stem, and collision avoidance kinematics for single port procedure10.1016/j.mechmachtheory.2022.104863 ↗
23. Kim, L.H., Bargar, C., Che, Y., and Okamura, A.M. (2015, January 26–30). Effects of master-slave tool misalignment in a teleoperated surgical robot. Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA.10.1109/ICRA.2015.7139948 ↗
24. Tzemanaki, A., Fracczak, L., Gillatt, D., Koupparis, A., Melhuish, C., Persad, R., Rowe, E., Pipe, A.G., and Dogramadzi, S. (2016, January 26–29). Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery. Proceedings of the 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore.10.1109/BIOROB.2016.7523598 ↗
25. Mylonas, G.P., Vitiello, V., Cundy, T.P., Darzi, A., and Yang, G.-Z. (June, January 31). CYCLOPS: A versatile robotic tool for bimanual single-access and natural-orifice endoscopic surgery. Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China.10.1109/ICRA.2014.6907198 ↗
26. Six-Dimensional Force/Torque Sensor Based on Fiber Bragg Gratings With Low Coupling10.1109/TIE.2020.2982107 ↗
27. Tool-tissue forces in surgery: A systematic review10.1016/j.amsu.2021.102268 ↗
28. Wang, H., Wang, W., Du, Z., and Gao, Y. (2021). MATEC Web of Conferences, EDP Sciences.
29. Recent advances of capacitive sensors: Materials, microstructure designs, applications, and opportunities10.1002/admt.202201959 ↗
30. Touch, press and stroke: A soft capacitive sensor skin10.1038/s41598-023-43714-6 ↗
31. Shi, H., Zhang, B., Mei, X., and Song, Q. (2021). Realization of force detection and feedback control for slave manipulator of master/slave surgical robot. Sensors, 21.10.3390/s21227489 ↗
32. State-of-the-art in force and tactile sensing for minimally invasive surgery10.1109/JSEN.2008.917481 ↗
33. Measuring interaction forces in surgical telemanipulation using conventional instruments10.1017/S0263574722001758 ↗
34. A force–torque sensor based on a Stewart Platform in a near-singular configuration10.1016/j.mechmachtheory.2004.04.005 ↗