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Please use this identifier to cite or link to this item: http://repository.iitr.ac.in/handle/123456789/26321
Title: Inverse kinematics and control of 4-degree-of-freedom wire-actuated in vivo robot
Authors: Sutar M.K.
Pathak, Pushparaj Mani
Mehta N.K.
Sharma A.K.
Gupta V.K.
Published in: Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Abstract: Endoscopes have been in use for many clinical procedures including biopsy and limited surgery. A biopsy is one of its most common applications. For more than a decade, research is in continuation on various limitations encountered by surgeons in this area like dexterity, manoeuverability and controlling of the scope tip to bring it to an exact point of interest. Existing endoscopes have limitations in number of degrees of freedom. To counter this problem, a 4-degree-of-freedom in vivo robot has been proposed by the authors earlier. This article presents an inverse kinematic solution of the wire-actuated in vivo robot for trajectory control. For this, a kinematic analysis has been performed and the tip positions were obtained analytically. For a known tip position, the length of the wire to be wrapped and un-wrapped is decided from the relational approach and accordingly the desired pulley rotation is performed using the proportional-derivative controller. Simulations have been carried out for three different cases and satisfying results were obtained. © 2014 IMechE.
Citation: Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, 229(2): 77-91
URI: https://doi.org/10.1177/0959651814557111
http://repository.iitr.ac.in/handle/123456789/26321
Issue Date: 2015
Publisher: SAGE Publications Ltd
Keywords: bond graph model
In vivo robot
kinematic analysis
trajectory control
wire actuation
ISSN: 9596518
Author Scopus IDs: 36107408200
8386080200
7201738732
55434064300
57225942080
Author Affiliations: Sutar, M.K., Department of Mechanical and Industrial Engineering, Indian Institute of Technology Roorkee, Roorkee, 247667, India
Pathak, P.M., Department of Mechanical and Industrial Engineering, Indian Institute of Technology Roorkee, Roorkee, 247667, India
Mehta, N.K., Department of Mechanical and Industrial Engineering, Indian Institute of Technology Roorkee, Roorkee, 247667, India
Sharma, A.K., Department of Mechanical and Industrial Engineering, Indian Institute of Technology Roorkee, Roorkee, 247667, India
Gupta, V.K., Vinay Nursing Home, Roorkee, India
Funding Details: 
Corresponding Author: Sutar, M.K.; Department of Mechanical and Industrial Engineering, India; email: mihirkumarsutar@yahoo.in
Appears in Collections:Journal Publications [ME]

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