Control of the coupled motion of a 6 DoF robotic arm and a continuum manipulator for the treatment of pelvis osteolysis

Author

Alambeigi, Farshid ; Murphy, Ryan J. ; Basafa, Ehsan ; Taylor, Russell H. ; Armand, Mehran

Author_Institution

Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA

fYear

2014

fDate

26-30 Aug. 2014

Firstpage

6521

Lastpage

6525

Abstract

The paper addresses the coupled motion of a 6 degree of freedom robot and a snake-like dexterous manipulator (SDM) designed for the treatment of bone defects behind the implant during total hip arthroplasty revision surgery. We have formulated the problem as a weighted, multi-objective constraint, linear optimization. A remote center of motion (RCM) acts as a virtual constraint for the robot. The coupled robot kinematics does not assume piecewise-constant curvature for the SDM. We have evaluated our method by simulating the coupled system inside a potential lesion area.

Keywords

bone; dexterous manipulators; diseases; manipulator kinematics; medical robotics; motion control; optimisation; prosthetics; surgery; 6-DoF robotic arm; bone defect treatment; continuum manipulator; coupled motion control; coupled robot kinematics; degree-of-freedom robot; implant; multiobjective constraint linear optimization; pelvis osteolysis treatment; potential lesion area; remote center-of-motion; snake-like dexterous manipulator; total hip arthroplasty revision surgery; virtual constraint; weighted linear optimization; Kinematics; Lesions; Manipulators; Optimization; Robot kinematics; Shafts;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society (EMBC), 2014 36th Annual International Conference of the IEEE

Conference_Location

Chicago, IL

ISSN

1557-170X

Type

conf

DOI

10.1109/EMBC.2014.6945122

Filename

6945122