The problem of Manipulators’ base placement has been considered by many researchers since the existence of such Mechanical devices. Their effective role in industrial applications and simplification in mastering different types of tasks could encourage even biomedical researchers and surgeons to think about the applicability of such tools inside the Operating Rooms. It’s proven that an optimal placement of non-mobile Robots can undertake an undeniable impression to outcome efficient results during the desired tasks. In this work, the problem of finding an optimal Robot’s base pose around the surgical table to bear maximum easiness and dexterity for the surgeon to move the surgical tool attached to the robot’s end-effector during the tele-manipulation of Neurosurgical tasks has been studied. Different methods from the literature are reviewed and an efficient procedure for locating a DLR light-weight robot 4+ with 7 Degrees of Freedom (DoFs) is proposed. Obviously, desired points at a Robot’s Base space must be reachable, furthermore, the easiness in End-Effector (E-E) movement (Translational and Rotational) must be guaranteed after locating the robot’s base. This can directly affect the Arm’s singularity avoidance and results the minimum need for a Manipulator’s reconfigurations while tracking a defined or even undefined trajectories during random movements in the surgery. The mentioned Manipulator is supposed to act as an assistant for the surgeon, so possible limitations during its usage must be studied and effectively removed in advance. Actually, the possible constraints to be taken into account are 1) The limitations in the manipulator’s joints rotation and 2) The fixed obstacles (patient’s body and surgical table) during the operation. The algorithm for finding the optimal Robot’s base pose is implemented in Matlab software while the forward and inverse kinematics solutions are the main sources of the calculations. Besides, a penalization function is defined to detect any collision among robot’s parts and mentioned obstacles. The Robotic Toolbox in Matlab and V-rep software helped to completely construct a simulating environment. The results are demonstrated based on a distribution graph of the order independent manipulability index values around the target point on the patient’s skull with the effective reaction to the presence of obstacles. Finally the optimal pose of the mentioned manipulator’s base is defined.
Il posizionamento della base di un Manipolatore robotico è stato al centro dell'attenzione di molti ricercatori fin dai primi studi sulla robotica. Il ruolo dei robot in applicazioni industriali così come la capacità di svolgere compiti molto diversi in modo semplice ed efficiente può incoraggiare chirurghi e bioingegneri riguardo la possibile applicazione di manipolatori robotici all'interno della Sala Operatoria. Un posizionamento ottimo di Robot fissi ha dimostrato di poter avere un effetto rilevante sulla capacità del Robot stesso nel compiere uno specifico compito. Il problema di trovare un posizionamento ottimo per la base di un Robot chirurgico attorno al tavolo operatorio è stato studiato durante questo lavoro al fine di garantire all'operatore massima destrezza nel movimento dello strumento chirurgico fissato all'end-effector del Robot durante un controllo Tele-operato. Sono stati studiati differenti approcci presenti in letteratura ed è stata proposta un'efficiente procedura per il posizionamento di un manipolatore a 7 Gradi di Libertà (KUKA Light-Weight Robot 4+). Ovviamente, la posizione desiderata nel sistema di riferimento della Base del Robot deve essere raggiungibile, garantendo in più facilità di movimento (sia in termini di traslazione che di rotazione) dell'end-effector (EE). Questi problemi possono direttamente influenzare la capacità del manipolatore di evitare singolarità e risultano in una minima necessità di modificare la configurazione del braccio robotico durante traiettorie pre-definite o non definite, come i movimenti della chirurgia tele-operata. Il Manipolatore robotico considerato è indirizzato all'utilizzo come assistente chirurgico, quindi devono essere studiate (e preventivamente rimosse) possibili limitazioni quali: (1) limiti sulle possibili rotazioni ai giunti del manipolatore e (2) ostacoli fissi come il paziente e il tavolo operatorio. L'algoritmo in grado di restituire la posizione ottima per la base del Robot è stato implementato in ambiente Matlab, dove il problema cinematico diretto ed inverso sono le maggiori fonti di calcolo. E' definita una funzione di costo che penalizzi posizionamenti che prevedano collisioni con la catena cinematica del Robot e gli ostacoli sopra menzionati. Il Robotic Toolbox (Matlab) e il software V-rep sono stati adottati nello sviluppo di un completo ambiente di simulazione. I risultati sono dimostrati basandosi su una distribuzione ordine-indipendente dei Manipulability Index (MI) attorno al punto di ingresso del Robot sulla testa del paziente con l'effettiva reazione alla presenza di ostacoli. Infine, viene definita la posa ottimale del Manipolatore considerato.
Optimal base placement of the DLR light weight robot for neurosurgery tasks
AGHAKHANI LONBANI, MOHAMMADALI
2013/2014
Abstract
The problem of Manipulators’ base placement has been considered by many researchers since the existence of such Mechanical devices. Their effective role in industrial applications and simplification in mastering different types of tasks could encourage even biomedical researchers and surgeons to think about the applicability of such tools inside the Operating Rooms. It’s proven that an optimal placement of non-mobile Robots can undertake an undeniable impression to outcome efficient results during the desired tasks. In this work, the problem of finding an optimal Robot’s base pose around the surgical table to bear maximum easiness and dexterity for the surgeon to move the surgical tool attached to the robot’s end-effector during the tele-manipulation of Neurosurgical tasks has been studied. Different methods from the literature are reviewed and an efficient procedure for locating a DLR light-weight robot 4+ with 7 Degrees of Freedom (DoFs) is proposed. Obviously, desired points at a Robot’s Base space must be reachable, furthermore, the easiness in End-Effector (E-E) movement (Translational and Rotational) must be guaranteed after locating the robot’s base. This can directly affect the Arm’s singularity avoidance and results the minimum need for a Manipulator’s reconfigurations while tracking a defined or even undefined trajectories during random movements in the surgery. The mentioned Manipulator is supposed to act as an assistant for the surgeon, so possible limitations during its usage must be studied and effectively removed in advance. Actually, the possible constraints to be taken into account are 1) The limitations in the manipulator’s joints rotation and 2) The fixed obstacles (patient’s body and surgical table) during the operation. The algorithm for finding the optimal Robot’s base pose is implemented in Matlab software while the forward and inverse kinematics solutions are the main sources of the calculations. Besides, a penalization function is defined to detect any collision among robot’s parts and mentioned obstacles. The Robotic Toolbox in Matlab and V-rep software helped to completely construct a simulating environment. The results are demonstrated based on a distribution graph of the order independent manipulability index values around the target point on the patient’s skull with the effective reaction to the presence of obstacles. Finally the optimal pose of the mentioned manipulator’s base is defined.| File | Dimensione | Formato | |
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https://hdl.handle.net/10589/94389