Parametric Estimation of Surgical Robotic Arm using Fuzzy Analysis
Main Article Content
Abstract
In the modern era of innovation and technology, robots-based surgery is emerging as a revolutionized surgical method over conventional open surgical methods. Among various other robotic techniques in bio-medical applications, minimally invasive surgery (MIS) robotic arms are considered a viable choice owning to its small incisions, less rate of infection with better and rapid recovery,less blood loss and reduced post-surgical pain. For MIS robotic arm a flexible seven-degrees of freedom (7-DOF) electric motor mechanism is widely used. It consists of three components including a surgeon console which is used by surgeon to control the robotic arm, a patient cart which contains three to four arms controlled by the surgeon from the console and a vision cart. Among these arms, one is used to hold surgical instruments like scissor and the other one controls the 3-D camera. Vision cart shows the 3-dimensional stereoscopic displays to surgeon on the console. In this work, a parametric estimation based on fuzzy analysis was performed for 7-DOF surgical robots. The effect of movement of joysticks attachment with surgeon console is studied on angle of the robotic arm. The movement of the joystick will change the angle of the robotic arm which will result in the movement of the robotic arm towards and away from the patient. The simulated and the MAMDANI calculated results show a difference of 1.44% which shows the accuracy of the calculations
Article Details
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
Pakistan Journal Emerging Science and Technologies (PJEST) in collaboration with Govt. Islamia Graduate College Civil Lines Lahore, Pakistan is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
References
D. Heiserman, Build your own working robot: The second generation. PA: Blue Ridge Summit PA: TaB Books, 1980.
M. Althoff, A. Giusti, S. B. Liu, and A. Pereira, "Effortless creation of safe robots from modules through self-programming and self-verification," Science Robotics, vol. 4, p. eaaw1924, 2019.
K. Warwick, S. J. Nasuto, V. M. Becerra, and B. J. Whalley, "Experiments with an in-vitro robot brain," in Computing with instinct: rediscovering artificial intelligence, ed: Springer-Verlag, 2011, pp. 1–15.
E. Farah and S. G. Liu, "Surgical Robot Design Development," Applied Mechanics and Materials, vol. 415, pp. 14-17, 2013.
A. Khlopas, N. Sodhi, A. A. Sultan, M. Chughtai, R. M. Molloy, and M. A. Mont, "Robotic Arm– Assisted Total Knee Arthroplasty," The Journal of Arthroplasty, vol. 33, pp. 2002-2006, 2018/07/01/ 2018.
K. Sung-Kyun, S. Won-Ho, K. Seong-Young, K. Jonathan, and K. Dong-Soo, "Design of a compact 5-DOF surgical robot of a spherical mechanism: CURES," in 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2008, pp. 990-995.
Q. Du, Q. Huang, L. Tian, and C. Liu, "Mechanical Design and Control System of a Minimally Invasive Surgical Robot System," in 2006 International Conference on Mechatronics and Automation, 2006, pp. 1120-1125.
U. Hagn, T. Ortmaier, R. Konietschke, B. Kubler, U. Seibold, A. Tobergte, M. Nickl, S. Jorg, and G. Hirzinger, "Telemanipulator for remote minimally invasive surgery," IEEE Robotics & Automation Magazine, vol. 15, pp. 28-38, 2008.
Q. Gong, G. Li, and Y. Pang, "Design and Implementation of Smart Home System Based on ZigBee Technology," International Journal of Smart Home, vol. 8, pp. 143-156, 2014.
M. E. Moran, "Evolution of robotic arms," J Robot Surg, vol. 1, pp. 103-11, 2007.
J. K. Paik, B. H. Shin, Y.-b. Bang, and Y.-B. Shim, "Development of an Anthropomorphic Robotic Arm and Hand for Interactive Humanoids," Journal of Bionic Engineering, vol. 9, pp. 133-142, 2012.
D. R. Swerdlow, K. Cleary, E. Wilson, B. Azizi-Koutenaei, and R. Monfaredi, "Robotic ArmAssisted Sonography: Review of Technical Developments and Potential Clinical Applications," AJR Am J Roentgenol, vol. 208, pp. 733-738, Apr 2017.
K. Raza, T. A. Khan, and N. Abbas, "Kinematic analysis and geometrical improvement of an industrial robotic arm," Journal of King Saud University - Engineering Sciences, vol. 30, pp. 218- 223, 2018/07/01/ 2018.
R. J. Nelson, J. S. S. Chavali, N. Yerram, P. Babbar, and J. H. Kaouk, "Current status of robotic single-port surgery," Urology annals, vol. 9, pp. 217-222, Jul-Sep 2017.
C. Laschi, B. Mazzolai, V. Mattoli, M. Cianchetti, and P. Dario, "Design of a biomimetic robotic octopus arm," Bioinspir Biomim, vol. 4, p. 015006, Mar 2009.
W. Wang, Y. Shi, A. A. Goldenberg, X. Yuan, P. Zhang, L. He, and Y. Zou, "Experimental analysis of robot-assisted needle insertion into porcine liver," Biomed Mater Eng, vol. 26 Suppl 1, pp. S375- 80, 2015.
A. R. Lanfranco, A. E. Castellanos, J. P. Desai, and W. C. Meyers, "Robotic surgery: a current perspective," Annals of surgery, vol. 239, pp. 14-21, 2004.
C. Adami, "Robots with instincts," Nature, vol. 521, pp. 426-427, 2015/05/01 2015.
P. Arbeille, A. Capri, J. Ayoub, V. Kieffer, M. Georgescu, and G. Poisson, "Use of a Robotic Arm to Perform Remote Abdominal Telesonography," American Journal of Roentgenology, vol. 188, pp. W317-W322, 2007/04/01 2007.
S. H. Baik, W. J. Lee, K. H. Rha, N. K. Kim, S. K. Sohn, H. S. Chi, C. H. Cho, S. K. Lee, J. H. Cheon, J. B. Ahn, and W. H. Kim, "Robotic total mesorectal excision for rectal cancer using four robotic arms," Surgical Endoscopy, vol. 22, pp. 792-797, 2008/03/01 2008.
B. Zhao, Y. Fu, Y. Yang, P. Zhang, and Y. Hu, "Design and control of a MRI-compatible pneumatic needle puncture robot," Computer Assisted Surgery, vol. 24, pp. 87-93, 2019/10/07 2019.
C. M. Wronka and M. W. Dunnigan, "Internet Remote Control Interface for a Multipurpose Robotic Arm," International Journal of Advanced Robotic Systems, vol. 3, p. 27, 2006/06/01 2006.
R. Yenorkar and U. M. Chaskar, "GUI Based Pick and Place Robotic Arm for Multipurpose Industrial Applications," in 2018 Second International Conference on Intelligent Computing and Control Systems (ICICCS), 2018, pp. 200-203.
R. K. Megalingam, G. V. Vivek, S. Bandyopadhyay, and M. J. Rahi, "Robotic arm design, development and control for agriculture applications," in 2017 4th International Conference on Advanced Computing and Communication Systems (ICACCS), 2017, pp. 1-7.
F. Pugin, P. Bucher P Fau - Morel, and P. Morel, "History of robotic surgery: from AESOP® and ZEUS® to da Vinci®."
P. Kumar and B. Ravi, "A comparative study of robots in laparoscopic surgeries," presented at the Proceedings of the Advances in Robotics 2019, Chennai, India, 2019.
P. Kakar, J. Das, P. Roy, and V. Pant, "Robotic invasion of operation theatre and associated anaesthetic issues: A review," Indian Journal of Anaesthesia, vol. 55, pp. 18-25, January 1, 2011.
.
A. Pietrabissa, A. Vinci, L. Pugliese, and A. Peri, "Robotic Surgery: Current Controversies and Future Expectations," Cirugía Española (English Edition), vol. 91, pp. 67-71, 2013.
J. H. Palep, "Robotic assisted minimally invasive surgery," Journal of minimal access surgery, vol. 5, pp. 1-7, 2009.
S. Tayyaba, M. W. Ashraf, and N. Afzulpurkar, "Simulation and fabrication of blood filtration system for patients with kidney diseases," IET Communications, vol. 6, pp. 3213-3221, 2012.
M. J. Afzal, M. W. Ashraf, S. Tayyaba, M. K. Hossain, and N. Afzulpurkar, "Sinusoidal Microchannel with Descending Curves for Varicose Veins Implantation," Micromachines (Basel), vol. 9, Jan 31 2018.
S. Tayyaba, M. W. Ashraf, M. I. Tariq, M. Nazir, N. Afzulpurkar, M. M. Balas, S. F. Mihalache, V. E. Balas, and L. C. Jain, "Skin insertion analysis of microneedle using ANSYS and fuzzy logic," Journal of Intelligent & Fuzzy Systems, vol. 38, pp. 5885-5895, 2020.
H. F. Fine, W. Wei, R. E. Goldman, and N. Simaan, "Robot-assisted ophthalmic surgery," Canadian Journal of Ophthalmology, vol. 45, pp. 581-584, 2010/12/01/ 2010.
L. Sun, F. V. Meer, Y. Bailly, and C. K. Yeung, "Design and Development of a Da Vinci Surgical System Simulator," in 2007 International Conference on Mechatronics and Automation, 2007, pp. 1050-1055.
M. J. Afzal, S. Tayyaba, M. W. Ashraf, M. K. Hossain, M. J. Uddin, and N. Afzulpurkar, "Simulation, fabrication and analysis of silver based ascending sinusoidal microchannel (ASMC) for implant of varicose veins," Micromachines, vol. 8, p. 278, 2017.
M. J. Afzal, F. Javaid, S. Tayyaba, M. W. Ashraf, C. Punyasai, and N. Afzulpurkar, "Study of Charging the Smart Phone by Human Movements by Using MATLAB Fuzzy Technique," in 2018 15th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON), 2018, pp. 411-414.
M. J. Afzal, M. W. Ashraf, S. Tayyaba, M. K. Hossain, and N. Afzulpurkar, "Sinusoidal Microchannel with Descending Curves for Varicose Veins Implantation," Micromachines, vol. 9, p. 59, 2018.
M. J. Afzal, S. Tayyaba, M. W. Ashraf, M. K. Hossain, and N. Afzulpurkar, "Fluidic simulation and analysis of spiral, U-shape and curvilinear nano channels for biomedical application," in 2017 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO), 2017, pp. 190-194.
M. J. Afzal, F. Javaid, S. Tayyaba, M. W. Ashraf, and M. K. Hossain, "Study on the Induced
oltage in Piezoelectric Smart Material (PZT) Using ANSYS Electric & Fuzzy Logic," 2020.
S. Tayyaba, M. W. Ashraf, Z. Ahmad, N. Wang, M. J. Afzal, and N. Afzulpurkar, "Fabrication and Analysis of Polydimethylsiloxane (PDMS) Microchannels for Biomedical Application," Processes, vol. 9, p. 57, 2021.
M. J. Afzal, M. W. Ashraf, S. Tayyaba, A. H. Jalbani, and F. Javaid, "Computer Simulation Based Optimization of Aspect Ratio for Micro and Nanochannels," Mehran University Research Journal of Engineering and Technology, vol. 39, pp. 779-791, 2020.