Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots

Pau Zamora-Ortiz, Javier Carral-Alvaro, Ángel Valera, José L. Pulloquinga, Rafael J. Escarabajal and Vicente Mata
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Pau Zamora-Ortiz: Instituto Universitario de Ingeniería Mecánica y Biomecánica (i2mb), Universitat Politècnica de València, Camino de Vera s/n, 46022 Valencia, Spain
Javier Carral-Alvaro: Departamento de Ingeniería de Sistemas y Automatica, Instituto de Automática e Informática Industrial (ai2), Universitat Politècnica de València, Camino de Vera s/n, 46022 Valencia, Spain
Ángel Valera: Departamento de Ingeniería de Sistemas y Automatica, Instituto de Automática e Informática Industrial (ai2), Universitat Politècnica de València, Camino de Vera s/n, 46022 Valencia, Spain
José L. Pulloquinga: Departamento de Ingeniería de Sistemas y Automatica, Instituto de Automática e Informática Industrial (ai2), Universitat Politècnica de València, Camino de Vera s/n, 46022 Valencia, Spain
Rafael J. Escarabajal: Departamento de Ingeniería de Sistemas y Automatica, Instituto de Automática e Informática Industrial (ai2), Universitat Politècnica de València, Camino de Vera s/n, 46022 Valencia, Spain
Vicente Mata: Centro de Investigación en Ingeniería Mecánica (CIIM), Universitat Politècnica de València, Camino de Vera s/n, 46022 Valencia, Spain

Mathematics, 2021, vol. 9, issue 7, 1-16

Abstract: Surgeries or rehabilitation exercises are hazardous tasks for a mechanical system, as the device has to interact with parts of the human body without the hands-on experience that the surgeon or physiotherapist acquires over time. For various gynecological laparoscopic surgeries, such as laparoscopic hysterectomy or laparoscopic pelvic endometriosis, Uterine Manipulators are used. These medical devices allow the uterus to be suitably mobilized. A gap needs to be filled in terms of the precise handling of this type of devices. In this sense, this manuscript first describes the mathematical procedure to identify the inertial parameters of uterine manipulators. These parameters are needed to establish an accurate position and force control for an electromechanical system to assist surgical operations. The method for identifying the mass and the center of mass of the manipulator is based on the solution of the equations for the static equilibrium of rigid solids. Based on the manipulator inertial parameter estimation, the paper shows how the force exerted by the manipulator can be obtained. For this purpose, it solves a matrix system composed of the torques and forces of the manipulator. Different manipulators have been used, and it has been verified that the mathematical procedures proposed in this work allow us to calculate in an accurate and efficient way the force exerted by these manipulators.

Keywords: inertial parameters; parameter identification; assistance robot; force sensor; surgery robot; robot control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2021
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