Publications by authors named "Hongqiang Sang"
State of the Art and Development Trend of Laparoscopic Surgical Robot and Master Manipulator.
Int J Med Robot
December 2024
Background: In recent years, laparoscopic surgical robots have rapidly developed. However, most focus on the overall robotic systems, with few summaries on the laparoscopic surgical robots and the master manipulators.
Methods: This paper provides a summary and analysis of typical laparoscopic surgical robots, including the strengths and limitations of existing laparoscopic surgical robots.
Operational space robust impedance control of the redundant surgical robot for minimally invasive surgery.
Med Biol Eng Comput
January 2025
Article Synopsis
- - The paper discusses the importance of motion accuracy and control for surgical robots, particularly in how they interact with soft tissues during procedures.
- - It proposes a robust impedance controller to manage dynamic changes caused by external disturbances, ensuring better performance and safety during surgery.
- - The new controller design includes a continuously switching sliding manifold that reduces chattering and improves motion accuracy, supported by simulations and experiments demonstrating its effectiveness.
Background: With the expansion of minimally invasive surgery (MIS) applications in surgery, the remote centre of motion (RCM) manipulator requires a more flexible workspace to meet different operation requirements. Thus, the mechanical structure and motion control of the RCM manipulator play important roles.
Methods: A multi-objective genetic algorithm was exploited to maximise the kinematic performance and obtain a compact structure of the RCM manipulator.
Preoperative planning method based on a MOPSO algorithm for robot-assisted cholecystectomy.
Int J Comput Assist Radiol Surg
April 2022
Purpose: Surgical robots have multiple manipulators with complex mechanisms and need to work in a narrow space in the patient's body. Therefore, for robot-assisted minimally invasive surgery (RMIS), it is very important to develop a reasonable preoperative planning before surgery.
Methods: A preoperative planning method based on the premise of no collision between surgical instruments and endoscope, an evaluation index with visibility, operability and hand-eye coordination was proposed in this paper.
The underwater glider changes its direction to follow the preset path in the horizontal plane only by flapping its vertical rudder. Heading tracking control plays the core role in the navigation process. To deal with non-linear flow disturbance and saturation in actuator, a new hybrid heading tracking control algorithm was presented, which integrated an adaptive fuzzy incremental PID (AFIPID) and an anti-windup (AW) compensator to improve the adaptability and robustness of underwater glider's heading control.
View Article and Find Full Text PDFBackground: Robotically assisted minimally invasive surgery can offer many benefits over open surgery and laparoscopic minimally invasive surgery. However, currently, there is no force sensing and force feedback.
Methods: This research was implemented using the da Vinci research kit.
Background: It is very important for robotically assisted minimally invasive surgery to achieve a high-precision and smooth motion control. However, the surgical instrument tip will exhibit vibration caused by nonlinear friction and unmodeled dynamics, especially when the surgical robot system is attempting low-speed, fine motion.
Methods: A fuzzy neural network sliding mode controller (FNNSMC) is proposed to suppress vibration of the surgical robotic system.
Background: Hand physiological tremor of surgeons can cause vibration at the surgical instrument tip, which may make it difficult for the surgeon to perform fine manipulations of tissue, needles, and sutures.
Methods: A zero phase adaptive fuzzy Kalman filter (ZPAFKF) is proposed to suppress hand tremor and vibration of a robotic surgical system. The involuntary motion can be reduced by adding a compensating signal that has the same magnitude and frequency but opposite phase with the tremor signal.
Background: Force sensing for robotic surgery is limited by the size of the instrument, friction and sterilization requirements. This paper presents a force-sensing instrument to avoid these restrictions.
Methods: Operating forces were calculated according to cable tension.
Background: Compared with conventional minimally invasive surgery and open surgery, robotic-assisted minimally invasive surgery can overcome or eliminate drawbacks caused by operator restrictions, motion limitation by the trocar and the image system, such as fatigue, trembling, low precision, constrained degree-of-freedom, poor hand-eye coordination and restricted surgical vision. In this paper, a novel partly tendon-driven master-slave robot system is proposed to assist minimally invasive surgery and a master-slave control architecture is developed for abdominal surgical operations.
Methods: A novel master-slave surgery robot system named MicroHand A has been developed.