2018 · 24 citations · 23 references
EngineeringRobotics EngineeringSurgeryMedical RoboticsRobot DesignRoboticsActuation SystemsMedical Robot DynamicsMedical Robot KinematicsMovement KinematicsRobot-assisted SurgerySurgical RoboticsControl Of Surgical RobotsOrgan Motion ModelingPeristaltic LocomotionRobotic Surgical SystemsStewart Platform KinematicsSurgical Robot DesignSurgical Robot DynamicsSurgical Simulation
To simulate body organ motion due to breathing, heart beats, or peristaltic movements, we designed a low-cost, miniaturized SPRK (Stewart Platform Research Kit) to translate and rotate phantom tissue. This platform is 20cm × 20cm × 10cm to fit in the workspace of a da Vinci Research Kit (DVRK) surgical robot and costs $250, two orders of magnitude less than a commercial Stewart platform. The platform has a range of motion of ± 1.27 cm in translation along x, y, and z, and of ± 15° in roll, pitch, and yaw directions. The platform also has motion modes for sinusoidal motion, breathing-inspired motion, and multi-axis motion. Modular mounts facilitate pattern cutting and debridement experiments. The platform's positional controller has a time-constant of 0.2 seconds and the root-mean-square error is 1.22 mm, 1.07 mm, and 0.20 mm in x, y, and z directions respectively. Construction directions, CAD models, and control software for the platform are available at github.com/BerkeleyAutomation/sprk.
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A Stewart Platform-Based System for Ankle Telerehabilitation
M. Girone, Grigore Burdea, Mourad Bouzit et al. · Autonomous Robots · 2001 · 239 citations