In this paper a new model for center of motion
creating is proposed. This new method uses cables. So, it is very
useful in robots because it is light and has easy assembling process.
In the robots which need to be in touch with some things this method
is so useful. It will be described in the following. The accuracy of the
idea is proved by two experiments. This system could be used in the
robots which need a fixed point in the contact with some things and
make a circular motion.
[1] A. Abbasi-Moshaii and F. Najafi, "A review of robotic mechanisms for
ultrasound examinations." Industrial Robot: An International Journal,
vol. 41, pp. 7-7, 2014.
[2] J. Funda. "Remote center-of-motion robot for surgery." U.S. Patent No.
5,397,323. 14 Mar. 1995.
[3] R. Baumann, "The pantoscope: A spherical remote-center-of-motion
parallel manipulator for force reflection." In Proceedings, IEEE
International Conference on Robotics and Automation, Vol. 1. IEEE,
1997.
[4] T. Salcudean, W. Zhu, P. Abolmaesumi, S. Bachmann, and P. Lawrence,
"A robot system for medical ultrasound," in Robotics Research-
International Symposium-, 2000, pp. 195-202.
[5] M. Mitsuishi, S. i. Warisawa, T. Tsuda, T. Higuchi, N. Koizumi, H.
Hashizume, et al., "Remote ultrasound diagnostic system," in Robotics
and Automation, 2001. Proceedings 2001 ICRA. IEEE International
Conference on, 2001, pp. 1567-1574.
[6] N. Koizumi, S. I. Warisawa, M. Mitsuishi, and H. Hashizume,
"Continuous path controller of slave manipulator in remote ultrasound
diagnostic system," in Proceedings, ICRA'02. IEEE International
Conference on Robotics and Automation, 2002, pp. 3368-3373.
[7] A. Vilchis, J. Troccaz, P. Cinquin, K. Masuda, and F. Pellissier, "A new
robot architecture for tele-echography," In Proceeding, IEEE
Transactions on Robotics and Automation, vol. 19, pp. 922-926, 2003.
[8] C. Delgorge, F. Courrèges, L. A. Bassit, C. Novales, C. Rosenberger, N.
Smith-Guerin, et al., "A tele-operated mobile ultrasound scanner using a
light-weight robot," In Proceeding, IEEE Transactions on Information
Technology in Biomedicine, vol. 9, pp. 50-58, 2005.
[9] R. H. Taylor and D. Stoianovici, "Medical robotics in computerintegrated
surgery," In Proceeding, IEEE Transactions on Robotics and
Automation, vol. 19, pp. 765-781, 2003.
[10] A. Vilchis-González, J. Avila-Vilchis, and A. García-Torres, "TERMI
robot," In Proceedings of the Electronics, Robotics and Automotive
Mechanics Conference, 2007, pp. 464-469.
[11] F. Najafi and N. Sepehri, "A robotic wrist for remote ultrasound
imaging." Mechanism and Machine Theory, vol. 46, pp. 1153-1170,
2011.
[12] K. Ito, S. Sugano, and H. Iwata, "Wearable echography robot for trauma
patient," In Proceeding, (IROS), 2010 IEEE/RSJ International
Conference on Intelligent Robots and Systems, 2010, pp. 4794-4799.
[1] A. Abbasi-Moshaii and F. Najafi, "A review of robotic mechanisms for
ultrasound examinations." Industrial Robot: An International Journal,
vol. 41, pp. 7-7, 2014.
[2] J. Funda. "Remote center-of-motion robot for surgery." U.S. Patent No.
5,397,323. 14 Mar. 1995.
[3] R. Baumann, "The pantoscope: A spherical remote-center-of-motion
parallel manipulator for force reflection." In Proceedings, IEEE
International Conference on Robotics and Automation, Vol. 1. IEEE,
1997.
[4] T. Salcudean, W. Zhu, P. Abolmaesumi, S. Bachmann, and P. Lawrence,
"A robot system for medical ultrasound," in Robotics Research-
International Symposium-, 2000, pp. 195-202.
[5] M. Mitsuishi, S. i. Warisawa, T. Tsuda, T. Higuchi, N. Koizumi, H.
Hashizume, et al., "Remote ultrasound diagnostic system," in Robotics
and Automation, 2001. Proceedings 2001 ICRA. IEEE International
Conference on, 2001, pp. 1567-1574.
[6] N. Koizumi, S. I. Warisawa, M. Mitsuishi, and H. Hashizume,
"Continuous path controller of slave manipulator in remote ultrasound
diagnostic system," in Proceedings, ICRA'02. IEEE International
Conference on Robotics and Automation, 2002, pp. 3368-3373.
[7] A. Vilchis, J. Troccaz, P. Cinquin, K. Masuda, and F. Pellissier, "A new
robot architecture for tele-echography," In Proceeding, IEEE
Transactions on Robotics and Automation, vol. 19, pp. 922-926, 2003.
[8] C. Delgorge, F. Courrèges, L. A. Bassit, C. Novales, C. Rosenberger, N.
Smith-Guerin, et al., "A tele-operated mobile ultrasound scanner using a
light-weight robot," In Proceeding, IEEE Transactions on Information
Technology in Biomedicine, vol. 9, pp. 50-58, 2005.
[9] R. H. Taylor and D. Stoianovici, "Medical robotics in computerintegrated
surgery," In Proceeding, IEEE Transactions on Robotics and
Automation, vol. 19, pp. 765-781, 2003.
[10] A. Vilchis-González, J. Avila-Vilchis, and A. García-Torres, "TERMI
robot," In Proceedings of the Electronics, Robotics and Automotive
Mechanics Conference, 2007, pp. 464-469.
[11] F. Najafi and N. Sepehri, "A robotic wrist for remote ultrasound
imaging." Mechanism and Machine Theory, vol. 46, pp. 1153-1170,
2011.
[12] K. Ito, S. Sugano, and H. Iwata, "Wearable echography robot for trauma
patient," In Proceeding, (IROS), 2010 IEEE/RSJ International
Conference on Intelligent Robots and Systems, 2010, pp. 4794-4799.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:70361", author = "A. Abbasi Moshaii and F. Najafi", title = "A New Center of Motion in Cabling Robots", abstract = "In this paper a new model for center of motion
creating is proposed. This new method uses cables. So, it is very
useful in robots because it is light and has easy assembling process.
In the robots which need to be in touch with some things this method
is so useful. It will be described in the following. The accuracy of the
idea is proved by two experiments. This system could be used in the
robots which need a fixed point in the contact with some things and
make a circular motion.", keywords = "Center of Motion, Robotic cables, permanent
touching.", volume = "9", number = "6", pages = "1082-4", }