Artificial Neural Network Based Kinematics: Case Study on Robotic Surgery
This study presents a novel controller design for robot-assisted surgery based on Artificial Neural Network (ANN) architecture. The motion of surgical robot is constrained by the kinematics of remote center of motion (RCM). A new ANN design for inverse kinematics of RCM is proposed. ANN compared with classical ANN design. The input pattern of new ANN has included feedback of previous joint angles of robotic arm as well as the position and orientation of the tool tip. A six DOF robotic arm with a tool prototype used to demonstrate a surgical robot. The experimental results proved applicability and efficiency of NN in robotics assisted minimally invasive surgery (RAMIS).
KeywordsArtificial neural network (ANN) robot assisted surgery (RAS) Remote center of motion (RCM) robotic assisted minimally invasive surgery (RAMIS)
Unable to display preview. Download preview PDF.
Scientific Research Projects Governing Unit (BAPYB) supports this study. It is performed in Mechatronics Research Lab. at Gaziantep University. We would like to thank them for their support. The authors are thankful to Prof. Dr. Maruf Şanlı (Faculty of Medicine, Gaziantep University) for his valuable suggestions during this study.
- 2.Jianmin L, Shuxin W, Xiaofei W, Chao H. (2010) Optimization of a novel mechanism for a minimally invasive surgery robot. Int. J. of Med.Robotics and Comp. Assisted Surgery,6 :83–90, https://doi.org/10.1002/rcs.293
- 3.Saidi J. Al, Minaker B (2014) Kinematic properties and control for reconfigurable robotic system,” in Proc. SMC. IEEE Int. Conf., San Diego, USA, pp. 2827-2832, https://doi.org/10.1109/smc.2014.6974357
- 4.Zhang Z, Yu H, Du Z. (2015) Design and Kinematic Analysis of A Parallel Robot with Remote Center of Motion for Minimally Invasive Surgery. In: Pr. Of the IEEE Int. Conf. on Mechatronics and Automation (ICMA),P. 698-703. https://doi.org/10.1109/icma.2015.7237570
- 6.Nastaran A, Milad G, Navid S, Marilena V, Giuseppe O. (2013) Task Control with Remote Center of Motion Constraint for Minimally Invasive Robotic Surgery, Pr. of IEEE Int. Conf. on Robotics and Automation (ICRA), p. 5807- 5812,. https://doi.org/10.1109/icra.2013.6631412
- 7.Yili F, Guojun N, Bo P, Kun L, Shuguo W. (2013) Design and Optimization of Remote Center Motion Mechanism of Minimally Invasive Surgical Robotics. In: Pr. of IEEE Int. Conf. on Robotics and Biomimetics (ROBIO), 774-779. https://doi.org/10.1109/robio.2013.6739556
- 8.Roderick C, Locke O, Rajni P. (2013), Optimal Remote Center-of-Motion Location for Robotics-Assisted Minimally-Invasive Surgery. In: Pr.of IEEE Int. Conf. on Robotics and Automation, 1900-1905. https://doi.org/10.1109/robot.2007.363599
- 10.Cong DP, Fernando C, Antonio CL, Fernando L, Pal JF, Rolf J. (2014) Analysis of a Moving Remote Center of Motion for Robotics-Assisted Minimally Invasive Surgery. In: Pr. of IEEE/RSJ Int. Conf. on Int. Robots and Systems (IROS), 1440-1446. https://doi.org/10.1109/iros.2015.7353557
- 12.Yang L, Chng CB, Chui CK, Lau D. (2010) Model-based Design Analysis for Programmable Remote Center of Motion in Minimally Invasive Surgery, Pr. of IEEE Conf. on Robotics, Automation and Mech., 84-89. https://doi.org/10.1109/ramech.2010.5513209
- 13.Beira R, Santos-Carreras L, Rognini G, Bleuler H, Clavel R. (2011) A novel remote-center-of-motion parallel manipulator for Minimally Invasive Surgery, App.Bionics and Biomechanics 8:191–208. https://doi.org/10.3233/abb-2011-0020
- 14.Ali H, Ismail N, Hamouda A, Aris I, Marhaban M, Al-Assadi H. (2009) Artificial neural network-based kinematics Jacobian solution for serial manipulator passing through singular configurations. Advances in Eng. Software, 41:359–367. https://doi.org/10.1016/j.advengsoft.2009.06.006CrossRefGoogle Scholar
- 17.Ryan A. B, Robert D. H, Pierre E. D. (2004) Kinematic Error Correction for Minimally Invasive Surgical Robots, Pr. of IEEE Int. Conf. of Rob. and Aut., ICRA 04; p. 358 – 364. https://doi.org/10.1109/robot.2004.1307176
- 19.Almusawi A.R.J, Implementation of Learning motion to Control a Robotic arm using Haptic Technology, Ph.D. thesis, Gaziantep University-TURKEY, 2016.Google Scholar
- 20.Almusawi A.R.J, Dulger L.C., Kapucu S. (2018) Online teaching of robotic arm by human-robot interaction: end effector force/torque sensing, J .of the Brazilian S. of Mech. Sciences and Engineering, 40:437, https://doi.org/10.1007/s40430018-1358-3.