Type: Conference paper
Kinematic and Dynamic Analysis of ARASH ASiST: Toward Micro Positioning
Journal: 2025 29th International Computer Conference, Computer Society of Iran, CSICC 2025 ()Year: 2021Volume: Issue: Pages: 59 - 65
Motaharifar M.a Hassani A. Dindarloo M.R. Khorrambakht R. Bataleblu A. Sadeghi H. Heidari R. Iranfar A. Hasani P. Hojati N.S. Khorasani A. Khajeahmadi N. Riazi-Esfahani H. Lashay A. Mohammadi S.F. Taghirad H.D. Hassani A. Dindarloo M.R. Khorrambakht R. Bataleblu A. Sadeghi H. Heidari R. Iranfar A. Hasani P. Hojati N.S. Khorasani A.
DOI:10.1109/ICRoM54204.2021.9663516Language: English
Abstract
This article elaborate on the kinematic and dynamic analysis of ARASH:ASiST, ARAS Haptic System for Eye Surgery Training, which is developed for vitrectomy eye surgery training. The mechanism selection of this system is reviewed first, in order to assist such a precise intraocular eye surgery training. Then the kinematics and dynamics analysis of the proposed haptic system is investigated. To verify the reported result, a prototype of ARASH:ASiST is modeled in MSC-ADAMS®, and the results of the dynamic formulation are validated. Finally, a common model-based controller is implemented on the real prototype, and it is verified that with such controller a suitable accuracy of 200 µm is attainable for the surgical instrument. © 2021 IEEE.
Author Keywords
ARASH:ASiSTDynamics AnalysisHaptic SystemPrecisionsRobot-Assisted SurgeryVitrec-tomy
Other Keywords
KinematicsRobotic surgeryTransplantation (surgical)ARASH:ASiSTDynamics analysisHaptic systemsIntraocularKinematics and dynamics analysisMicro positioningPrecisionRobot-assisted surgerySurgery trainingVitrec-tomySurgical equipment