Control of the coupled motion of a 6 DoF robotic arm and a continuum manipulator for the treatment of pelvis osteolysis

Farshid Alambeigi; Ryan J. Murphy; Ehsan Basafa; Russell H. Taylor; Mehran Armand

doi:10.1109/EMBC.2014.6945122

Control of the coupled motion of a 6 DoF robotic arm and a continuum manipulator for the treatment of pelvis osteolysis

Farshid Alambeigi, Ryan J. Murphy, Ehsan Basafa, Russell H. Taylor, Mehran Armand

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

16 Scopus citations

Abstract

The paper addresses the coupled motion of a 6 degree of freedom robot and a snake-like dexterous manipulator (SDM) designed for the treatment of bone defects behind the implant during total hip arthroplasty revision surgery. We have formulated the problem as a weighted, multi-objective constraint, linear optimization. A remote center of motion (RCM) acts as a virtual constraint for the robot. The coupled robot kinematics does not assume piecewise-constant curvature for the SDM. We have evaluated our method by simulating the coupled system inside a potential lesion area.

Original language	English (US)
Title of host publication	2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6521-6525
Number of pages	5
ISBN (Electronic)	9781424479290
DOIs	https://doi.org/10.1109/EMBC.2014.6945122
State	Published - Nov 2 2014
Event	2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014 - Chicago, United States Duration: Aug 26 2014 → Aug 30 2014

Publication series

Name	2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014

Other

Other	2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014
Country/Territory	United States
City	Chicago
Period	8/26/14 → 8/30/14

ASJC Scopus subject areas

Health Informatics
Computer Science Applications
Biomedical Engineering
General Medicine

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10.1109/EMBC.2014.6945122

Cite this

Alambeigi, F., Murphy, R. J., Basafa, E., Taylor, R. H., & Armand, M. (2014). Control of the coupled motion of a 6 DoF robotic arm and a continuum manipulator for the treatment of pelvis osteolysis. In 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014 (pp. 6521-6525). Article 6945122 (2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EMBC.2014.6945122

Control of the coupled motion of a 6 DoF robotic arm and a continuum manipulator for the treatment of pelvis osteolysis. / Alambeigi, Farshid; Murphy, Ryan J.; Basafa, Ehsan et al.
2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 6521-6525 6945122 (2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Alambeigi, F, Murphy, RJ, Basafa, E, Taylor, RH & Armand, M 2014, Control of the coupled motion of a 6 DoF robotic arm and a continuum manipulator for the treatment of pelvis osteolysis. in 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014., 6945122, 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014, Institute of Electrical and Electronics Engineers Inc., pp. 6521-6525, 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014, Chicago, United States, 8/26/14. https://doi.org/10.1109/EMBC.2014.6945122

Alambeigi F, Murphy RJ, Basafa E, Taylor RH, Armand M. Control of the coupled motion of a 6 DoF robotic arm and a continuum manipulator for the treatment of pelvis osteolysis. In 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 6521-6525. 6945122. (2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014). doi: 10.1109/EMBC.2014.6945122

Alambeigi, Farshid ; Murphy, Ryan J. ; Basafa, Ehsan et al. / Control of the coupled motion of a 6 DoF robotic arm and a continuum manipulator for the treatment of pelvis osteolysis. 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 6521-6525 (2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014).

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Control of the coupled motion of a 6 DoF robotic arm and a continuum manipulator for the treatment of pelvis osteolysis

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