Error Compensation Method for High Precision Microsurgical Robot with RCM Manipulator

doi:10.3901/JME.2022.18.170

Abstract

Abstract: To achieve robot-assisted minimally invasive surgery, manipulator with remote center motion (RCM) mechanism is widely used in surgical robot system. Especially, microsurgery with particularly precise operation requires higher precision and safety of the robot. Aiming at the characteristics of fundus microsurgery robot, based on kinematic calibration, an error compensation method is proposed to reduce positioning error, RCM bias and inverse kinematics solution time. The error model of the robot is established and the geometric parameters are identified; Based on the function and characteristics of the mechanism, the kinematic equations and error compensation model between RCM and end-effector points are established, redundant degrees of freedom are used to compensate the RCM bias in real time. An efficient inverse kinematics method for simultaneous compensation of RCM bias and end-effector position error is realized by analytical solution. Experiments are carried out on the developed surgical robot platform, the results show that the end-effector positioning error reduce to 0.1426 mm. Compared with the iterative method, the RCM bias is reduced by 92.72% and calculation efficiency increased by 89.97%. The effectiveness of the proposed method is verified, which is of great significance to improve the operation precision and safety of the microsurgery robot.

Key words: RCM manipulator, microsurgery robot, kinematic calibration, error compensation, inverse kinematics

CLC Number:

TG156

BAI Ming, ZHANG Minglu, ZHANG He, PANG Linjun, ZHAO Jie. Error Compensation Method for High Precision Microsurgical Robot with RCM Manipulator[J]. Journal of Mechanical Engineering, 2022, 58(18): 170-180.

References

[1] FUNDA J，TAYLOR R H，ELDRIDGE B，et al. Constrained cartesian motion control for teleoperated surgical robots[J]. IEEE Transactions on Robotics and Automation，1996，12(3):453-465.
[2] TAYLOR R H，Stoianovici D. Medical robotics in computer-integrated surgery[J]. IEEE Transactions on Robotics and Automation，2003，19(5):765-765.
[3] Kuo C H，DAI J S，Dasgupta P. Kinematic design considerations for minimally invasive surgical robots:An overview[J]. The International Journal of Medical Robotics and Computer Assisted Surgery，2012，8(2):127-145.
[4] Eldridge B，Gruben K，LaRose D，et al. A remote center of motion robotic arm for computer assisted surgery[J]. Robotica，1996，14(1):103-109.
[5] Alamdar A，Samandi P，Hanifeh S，et al. Investigation of a hybrid kinematic calibration method for the “sina” surgical robot[J]. IEEE Robotics and Automation Letters，2020，5(4):5276-5282.
[6] Taylor R，Jensen P，Whitcomb L，et al. A steady-hand robotic system for microsurgical augmentation[J]. The International Journal of Robotics Research，1999，18(12):1201-1210.
[7] Jung M，Morel P，Buehler L，et al. Robotic general surgery:current practice，evidence，and perspective[J]. Langenbeck's Archives of Surgery，2015，400(3):283-292.
[8] MITCHELL B，KOO J，IORDACHITA M，et al. Development and application of a new steady-hand manipulator for retinal surgery[C]// 2007 IEEE International Conference on Robotics and Automation (ICRA)，10-14 April 2007，Roma，Italy，IEEE:NewYork，2007:623-629.
[9] Bergeles C，Yang G Z. From passive tool holders to microsurgeons:safer，smaller，smarter surgical robots[J]. IEEE Transactions on Biomedical Engineering，2013，61(5):1565-1576.
[10] Yang G Z，Cambias J，Cleary K，et al. Medical robotics—regulatory，ethical，and legal considerations for increasing levels of autonomy[J]. Science Robotics，2017，2(4):8638.
[11] Suzuki H，Wood R J. Origami-inspired miniature manipulator for teleoperated microsurgery[J]. Nature Machine Intelligence，2020，2(8):437-446.
[12] Rosa B，Gruijthuijsen C，Van Cleynenbreugel B，et al. Estimation of optimal pivot point for remote center of motion alignment in surgery[J]. International Journal of Computer Assisted Radiology and Surgery，2015，10(2):205-215.
[13] Klodmann J，Schlenk C，Hellings-Kuß A，et al. An introduction to robotically assisted surgical systems:current developments and focus areas of research[J]. Current Robotics Reports，2021，2(3):321-332.
[14] Zaplana I，Basanez L. A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis[J]. Mechanism and Machine Theory，2018，121(3):829-843.
[15] Menaker A，Shah S，Snelling B M，et al. Current applications and future perspectives of robotics in cerebro -vascular and endovascular neurosurgery[J]. Journal of Neurointerventional Surgery，2018，10(1):78-82.
[16] Kim C K，Chung D G，Hwang M，et al. Three-degrees-of-freedom passive gravity compensation mechanism applicable to robotic arm with remote center of motion for minimally invasive surgery[J]. IEEE Robotics and Automation Letters，2019，4(4):3473-3480.
[17] Aksungur S. Remote center of motion (RCM) mechanisms for surgical operations[J]. International Journal of Applied Mathematics Electronics and Computers，2015，3(2):119-126.
[18] Edwards T L，Xue K，Meenink H C M，et al. First-in-human study of the safety and viability of intraocular robotic surgery[J]. Nature Biomedical Engineering，2018，2(9):649-656.
[19] Taylor R H，Funda J，Eldridge B，et al. A telerobotic assistant for laparoscopic surgery[J]. IEEE Engineering in Medicine and Biology Magazine，1995，14(3):279-288.
[20] Smits J，Reynaerts D，Vander Poorten E. Synthesis and methodology for optimal design of a parallel remote center of motion mechanism:Application to robotic eye surgery[J]. Mechanism and Machine Theory，2020，151(0094-114X):103896.
[21] Chen G，Wang J，Wang H，et al. Design and validation of a spatial two-limb 3R1T parallel manipulator with remote center-of-motion[J]. Mechanism and Machine Theory，2020，149:103807.
[22] Chen G，Wang J，Wang H. A new type of planar two degree-of-freedom remote center-of-motion mechanism inspired by the peaucellier lipkin straight-line linkage[J]. Journal of Mechanical Design，2019，141(1):015001- 015009.
[23] Vander Poorten E，Riviere C N，Abbott J J，et al. Robotic retinal surgery[M]. New York:Elsevier，2020.
[24] Bai M，Zhang M，Zhang H，et al. An error compensation method for surgical robot based on RCM Mechanism[J]. IEEE Access，2021，9(2):140747 -140758.
[25] Wampler C W. Manipulator inverse kinematic solutions based on vector formulations and damped least-squares methods[J]. IEEE Transactions on Systems，Man，and Cybernetics，1986，16(1):93-101.
[26] CRAIG J J. Introduction to robotics:Mechanics and control[J]. Automatica，1987，23(2):263-264.
[27] Fratu A，Vermeiren L，Dequidt A. Using the redundant inverse kinematics system for collision avoidance[C]// 2010 Proceedings of International Symposium on Electrical and Electronics Engineering，September 16-18，2010，Galati，Romania. IEEE:NewYork，2010:88-93.
[28] Kim J S，Jeong J H，Park J H. Inverse kinematics and geometric singularity analysis of a 3-SPS/S redundant motion mechanism using conformal geometric algebra[J]. Mechanism and Machine Theory，2015，90:23-36.
[29] Drexler D A. Solution of the closed-loop inverse kinematics algorithm using the Crank-Nicolson method[C]// Proceedings of International Symposium on Applied Machine Intelligence and Informatics. Slovakia:IEEE，2016:351-356.
[30] Zhao J，Gong S，Zhang Z. Analytical inverse kinematics of anthropomorphic movements for 7-DOF humanoid manipulators[J]. Journal of Mechanical Engineering，2018，54(21):25-32.
[31] PIPER D. The kinematics of manipulators under computer control [M]. Stanford:PHD Thesis Stanford University，1968.
[32] Paul R P. Robot manipulators:Mathematics，programming，and control:the computer control of robot manipulators[M]. Cambridge:The MIT Press，1981.