Problem
Research questions and friction points this paper is trying to address.
trajectory smoothing
parallel robot
pancreatic surgery
minimally invasive
Towards AI-enhanced control: a numerical technique for trajectory smoothing of a parallel robot for pancreatic surgery
🤖 AI Summary
该论文提出一种数值方法，通过生成S曲线平滑并行机器人末端执行器轨迹，减少胰腺微创手术中的组织损伤。
📝 Abstract
The paper presents a numerical approach for the end-effector trajectory smoothing of a parallel robot designed for minimally invasive pancreatic surgery. The approach is tailored for real-time master-slave control architecture and uses a 3D space mouse for command input for velocity control. The trajectory smoothing is achieved by generating S-curves in the end-effector velocity fields, thus controlling the accelerations, which in turn reduces tissue trauma in the minimally invasive procedures. Real-time control is enabled by segmenting the S-curves based on the command inputs from the 3D space mouse. A special case is considered where the acceleration time is constant for all command inputs. Numeric results demonstrate stable transitions (without abrupt changes) in both the end-effector parameter space and in the active joints parameters, thereby validating the proposed approach. Further work aims to test the approach on an experimental model and integrate it into AI-based training modules.
Innovation
Methods, ideas, or system contributions that make the work stand out.
trajectory smoothing
S-curves
real-time control
minimally invasive surgery
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