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Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation

Jurado Realpe 1 Guillaume Aiche 1 Salih Abdelaziz 1 Philippe Poignet 1 
1 DEXTER - Robotique médicale et mécanismes parallèles
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper introduces a 2-DOF spatial remote center of motion (RCM) tensegrity mechanism, based on a double parallelogram system, dedicated for percutaneous needle insertion. The originality of this mechanism is its ability to be reconfigured and its capacity to perform a decoupled modulation of its stiffness in an asynchronous way. To do so, an analytical stiffness model of the robot is established, and a control methodology is proposed. A prototype of the robot is developed and assessed experimentally. The position tracking is evaluated using a 6-DOF magnetic tracker sensor showing a root mean square error less than 0.8 • in both directions of the needle guide.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-03140522
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Submitted on : Friday, February 12, 2021 - 10:44:47 PM
Last modification on : Friday, August 5, 2022 - 3:03:30 PM
Long-term archiving on: : Friday, May 14, 2021 - 9:34:33 AM

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Jurado Realpe, Guillaume Aiche, Salih Abdelaziz, Philippe Poignet. Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation. ICRA 2020 - 37th IEEE International Conference on Robotics and Automation, May 2020, Paris (Virtual), France. pp.3882-3888, ⟨10.1109/ICRA40945.2020.9197507⟩. ⟨lirmm-03140522⟩

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