Optimum Design of 6R Passive Haptic Robotic Arm for Implant Surgery

Date

2010-07-10

Author

Yılmaz, Serkan
Konukseven, Erhan İlhan

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

225
views

0
downloads

The aim of this research was to design an optimum 6R passive haptic robotic arm (PHRA) to work in a limited workspace during dental implant surgery. Misplacement of an implant during dental surgery causes longer recuperation periods and functional disorders. In this study, a passive guidance robot arm was designed as a surgical aid tool for a dentist during the operation to reduce the surgical complications. Optimum design of a 6R robot is a complex issue since minimum energy has to be consumed while maximum workspace is to be achieved using optimized link lengths. The methodology used deals not only with link lengths of manipulator but also mass and inertia of the links along with the location of the tool path. Another feature of the methodology is to maximize haptic device transparency using an objective function that includes end-effector torques/forces with workspace limits taken as constraints. The objective function was obtained from dynamic equations and the constraints were defined using kinematic equations. The constrained nonlinear optimization problem was solved using Sequential Quadratic Programming (SQP) and Genetic Algorithms (GA). Main contribution of this paper is an optimization algorithm that considers spatial dynamics to reduce parasitic torques leading to an optimal 6R robot design. Details of the methodology, solutions, and performance of the optimization techniques are presented.

Subject Keywords

Passive guidance, Multivariable optimization, Dental implant surgery, Haptic feedback, Haptic transparency

URI

https://hdl.handle.net/11511/54482

Collections

Department of Metallurgical and Materials Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Passive Haptic Interface with MR-Brakes for Dental Implant Surgery Senkal, Doruk; Gurocak, Hakan; Konukseven, Erhan İlhan (MIT Press - Journals, 2011-06-01) In this research a passive haptic interface is explored as a surgical aid for dental implant surgery. The placement of a dental implant is critical since positioning mistakes can lead to permanent damage in the nerves controlling the lips, long lasting numbness, and failure of the implant and the crown on it. Haptic feedback to the surgeon in real time can decrease dependence on the surgeon's skill and experience for accurate implant positioning and increase the overall safety of the procedure. The develope...
7-DOF Haptic device and interface design Baser, Ozgur; Konukseven, Erhan İlhan (2013-01-01) In this study, the developed 7-DOF haptic device (HaP-7) and its virtual reality interface are presented. The design issues, design constraints, and alternative design configurations are discussed and the potential advantages of the HaP-7 are put forward. The kinematic model of the proposed device looks like a simplified human arm kinematic model. The redundant characteristic of the device provides larger workspace and allows for appropriate posture selection for the purposes of maximization of the rigidity...
Mechanical brake design for passive haptic device Yilmaz, Serter; Konukseven, Erhan İlhan; Gurocak, Hakan (2011-12-28) This paper explores a new mechanical brake design to be used in order to limit the motion in low cost and high force passive haptic device design. The designed mechanical brake was inspired from the working principle of a coaster brake used in bicycles. The brake consists of conic surfaces actuated by a DC motor. A leaf spring is added to the system to detect the direction of the user movement. A 1-DOF haptic interface was developed to study virtual wall collisions. Two different prototypes were manufacture...
Sensitivity improvement strategies and applications for flexible and wearable capacitive pressure sensors Çiçek, Melih Ögeday; Ünalan, Hüsnü Emrah; Çınar, Simge; Department of Metallurgical and Materials Engineering (2022-8) Pressure sensors have attracted great interest in parallel with developments in wearable electronics, robotics, human-machine interface devices, and electronic skin. In this field, capacitive pressure sensors are gaining increasing research attention due to their high sensitivity, high stability, fast response/recovery times, and simple manufacturing routes. While capacitive pressure sensors have prominent features, there is still a long way to go before they become more common in wearable technology. Incre...
Transparency improvement in haptic devices with a torque compensator using motor current Baser, Ozgur; Konukseven, Erhan İlhan; Gurocak, Hakan (2012-12-01) Transparency of a haptic interface can be improved by minimizing the effects of inertia and friction through the use of model based compensators. However, the performance with these algorithms is limited due to the estimation errors in the system model and in the velocity and acceleration from quantized encoder data. This paper contributes a new torque compensator based on motor current to improve transparency. The proposed method was tested experimentally in time and frequency domains by means of an excita...

Citation Formats

S. Yılmaz and E. İ. Konukseven, “Optimum Design of 6R Passive Haptic Robotic Arm for Implant Surgery,” 2010, vol. 6191, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/54482.