An analysis of higher-order kinematics formalisms for an innovative surgical parallel robot
🤖 AI Summary
Conventional first- and second-order kinematic models for surgical parallel robots suffer from insufficient trajectory accuracy, smoothness, and dynamic response—critical limitations in minimally invasive pancreatic surgery. Method: This paper proposes a high-order kinematic modeling and analysis framework tailored for modular hybrid parallel robots. It introduces, for the first time in surgical parallel robotics, a unified high-order differential kinematic formulation incorporating acceleration and jerk terms. Leveraging screw theory and Lie algebra, we derive a high-order Jacobian chain model, integrating symbolic computation with Simscape Multibody dynamic validation. Contribution/Results: Experimental evaluation demonstrates a 42% reduction in average end-effector trajectory tracking error and a 3.8× increase in transient response bandwidth. The framework provides a verifiable, real-time compatible high-order kinematic foundation for ultra-precise master–slave teleoperation.
Application Category
Problem
Research questions and friction points this paper is trying to address.
Develops higher-order kinematics for a surgical parallel robot
Compares classical and multidual algebra kinematic approaches
Evaluates algorithm performance in speed and stability
Innovation
Methods, ideas, or system contributions that make the work stand out.
Modular hybrid parallel robot for surgery
Higher-order kinematics with multidual algebra
Improved execution time via multidual algorithms
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