Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots

[EN] Surgeries or rehabilitation exercises are hazardous tasks for a mechanical system, as the device has to interact with parts of the human body without the hands-on experience that the surgeon or physiotherapist acquires over time. For various gynecological laparoscopic surgeries, such as laparos...

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Autores: Zamora-Ortiz, Pau, Carral-Alvaro, Javier, Pulloquinga-Zapata, José, Escarabajal-Sánchez, Rafael José, Valera Fernández, Ángel|||0000-0001-6843-6394, Mata Amela, Vicente|||0000-0003-2255-0567
Tipo de recurso: artículo
Fecha de publicación:2021
País:España
Institución:Universitat Politècnica de València (UPV)
Repositorio:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
Idioma:inglés
OAI Identifier:oai:riunet.upv.es:10251/186754
Acceso en línea:https://riunet.upv.es/handle/10251/186754
Access Level:acceso abierto
Palabra clave:Inertial parameters
Parameter identification
Assistance robot
Force sensor
Surgery robot
Robot control
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA MECANICA
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spelling Identification of Inertial Parameters for Position and Force Control of Surgical Assistance RobotsZamora-Ortiz, PauCarral-Alvaro, JavierPulloquinga-Zapata, JoséEscarabajal-Sánchez, Rafael JoséValera Fernández, Ángel|||0000-0001-6843-6394Mata Amela, Vicente|||0000-0003-2255-0567Inertial parametersParameter identificationAssistance robotForce sensorSurgery robotRobot controlINGENIERIA DE SISTEMAS Y AUTOMATICAINGENIERIA MECANICA[EN] Surgeries or rehabilitation exercises are hazardous tasks for a mechanical system, as the device has to interact with parts of the human body without the hands-on experience that the surgeon or physiotherapist acquires over time. For various gynecological laparoscopic surgeries, such as laparoscopic hysterectomy or laparoscopic pelvic endometriosis, Uterine Manipulators are used. These medical devices allow the uterus to be suitably mobilized. A gap needs to be filled in terms of the precise handling of this type of devices. In this sense, this manuscript first describes the mathematical procedure to identify the inertial parameters of uterine manipulators. These parameters are needed to establish an accurate position and force control for an electromechanical system to assist surgical operations. The method for identifying the mass and the center of mass of the manipulator is based on the solution of the equations for the static equilibrium of rigid solids. Based on the manipulator inertial parameter estimation, the paper shows how the force exerted by the manipulator can be obtained. For this purpose, it solves a matrix system composed of the torques and forces of the manipulator. Different manipulators have been used, and it has been verified that the mathematical procedures proposed in this work allow us to calculate in an accurate and efficient way the force exerted by these manipulators.The authors wish to thank the "Agencia Valenciana de la Innovacio" (Generalitat Valenciana) for the partial funding of this study under the project with reference INNCON00/20/002. We also want to thank the "Instituto Universitario de Automatica e Informatica Industrial (ai2)" of the "Universitat Politecnica de Valencia" for its financial support under the program "Plan de ayudas a la I+D+I del Instituto ai2".MDPI AGDepartamento de Ingeniería de Sistemas y AutomáticaEscuela Técnica Superior de Ingeniería Aeroespacial y Diseño IndustrialDepartamento de Ingeniería Mecánica y de MaterialesInstituto Universitario de Automática e Informática IndustrialInstituto Universitario de Investigación Concertado de Ingeniería Mecánica y BiomecánicaEscuela Técnica Superior de Ingeniería InformáticaAgència Valenciana de la InnovacióUniversitat Politècnica de ValènciaRepositorio Institucional de la Universitat Politècnica de València Riunet20212021-04-01journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://riunet.upv.es/handle/10251/186754reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)InglésengAgència Valenciana de la Innovació https://doi.org/10.13039/501100016028 INNCON00%2F20%2F002open accesshttp://purl.org/coar/access_right/c_abf2Reconocimiento (by)http://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessoai:riunet.upv.es:10251/1867542026-06-13T07:49:27Z
dc.title.none.fl_str_mv Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots
title Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots
spellingShingle Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots
Zamora-Ortiz, Pau
Inertial parameters
Parameter identification
Assistance robot
Force sensor
Surgery robot
Robot control
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA MECANICA
title_short Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots
title_full Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots
title_fullStr Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots
title_full_unstemmed Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots
title_sort Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots
dc.creator.none.fl_str_mv Zamora-Ortiz, Pau
Carral-Alvaro, Javier
Pulloquinga-Zapata, José
Escarabajal-Sánchez, Rafael José
Valera Fernández, Ángel|||0000-0001-6843-6394
Mata Amela, Vicente|||0000-0003-2255-0567
author Zamora-Ortiz, Pau
author_facet Zamora-Ortiz, Pau
Carral-Alvaro, Javier
Pulloquinga-Zapata, José
Escarabajal-Sánchez, Rafael José
Valera Fernández, Ángel|||0000-0001-6843-6394
Mata Amela, Vicente|||0000-0003-2255-0567
author_role author
author2 Carral-Alvaro, Javier
Pulloquinga-Zapata, José
Escarabajal-Sánchez, Rafael José
Valera Fernández, Ángel|||0000-0001-6843-6394
Mata Amela, Vicente|||0000-0003-2255-0567
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv Departamento de Ingeniería de Sistemas y Automática
Escuela Técnica Superior de Ingeniería Aeroespacial y Diseño Industrial
Departamento de Ingeniería Mecánica y de Materiales
Instituto Universitario de Automática e Informática Industrial
Instituto Universitario de Investigación Concertado de Ingeniería Mecánica y Biomecánica
Escuela Técnica Superior de Ingeniería Informática
Agència Valenciana de la Innovació
Universitat Politècnica de València
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Inertial parameters
Parameter identification
Assistance robot
Force sensor
Surgery robot
Robot control
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA MECANICA
topic Inertial parameters
Parameter identification
Assistance robot
Force sensor
Surgery robot
Robot control
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA MECANICA
description [EN] Surgeries or rehabilitation exercises are hazardous tasks for a mechanical system, as the device has to interact with parts of the human body without the hands-on experience that the surgeon or physiotherapist acquires over time. For various gynecological laparoscopic surgeries, such as laparoscopic hysterectomy or laparoscopic pelvic endometriosis, Uterine Manipulators are used. These medical devices allow the uterus to be suitably mobilized. A gap needs to be filled in terms of the precise handling of this type of devices. In this sense, this manuscript first describes the mathematical procedure to identify the inertial parameters of uterine manipulators. These parameters are needed to establish an accurate position and force control for an electromechanical system to assist surgical operations. The method for identifying the mass and the center of mass of the manipulator is based on the solution of the equations for the static equilibrium of rigid solids. Based on the manipulator inertial parameter estimation, the paper shows how the force exerted by the manipulator can be obtained. For this purpose, it solves a matrix system composed of the torques and forces of the manipulator. Different manipulators have been used, and it has been verified that the mathematical procedures proposed in this work allow us to calculate in an accurate and efficient way the force exerted by these manipulators.
publishDate 2021
dc.date.none.fl_str_mv 2021
2021-04-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/186754
url https://riunet.upv.es/handle/10251/186754
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Agència Valenciana de la Innovació https://doi.org/10.13039/501100016028 INNCON00%2F20%2F002
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reconocimiento (by)
http://creativecommons.org/licenses/by/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reconocimiento (by)
http://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI AG
publisher.none.fl_str_mv MDPI AG
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.300719

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