Kinematic and Dynamic Analysis of Arash Asist: Toward Micro Positioning

Kinematic and Dynamic Analysis of Arash Asist: Toward Micro Positioning Publisher

Hassani A¹ ; Dindarloo MR¹ ; Khorambakht R¹ ; Bataleblu A¹ ; Sadeghi H¹ ; Heidari R¹ ; Iranfar A¹ ; Hasani P¹ ; Hojati NS¹ ; Khorasani A¹ ; Khajeahmadi N¹ ; Motaharifar M² ; Riaziesfahani H³ ; Lashay A³ Show All Authors

Hassani A¹
Dindarloo MR¹
Khorambakht R¹
Bataleblu A¹
Sadeghi H¹
Heidari R¹
Iranfar A¹
Hasani P¹
Hojati NS¹
Khorasani A¹
Khajeahmadi N¹
Motaharifar M²
Riaziesfahani H³
Lashay A³
Mohammadi SF³
Taghirad HD¹

Show Affiliations

1. K.N. Toosi University of Technology, Advanced Robotics and Automated Systems (ARAS), Tehran, Iran
2. University of Isfahan, Department of Electrical Engineering, Isfahan, Iran
3. Tehran University of Medical Sciences, Translational Ophthalmology Research Center, Farabi Eye Hospital, Tehran, Iran

Source: 9th RSI International Conference on Robotics and Mechatronics# ICRoM 2021 Published:2021

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.

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Style	Citing Format
MLA	Hassani A, et al.. "Kinematic and Dynamic Analysis of Arash Asist: Toward Micro Positioning." 9th RSI International Conference on Robotics and Mechatronics# ICRoM 2021, vol. , no. , 2021, pp. 59-65.
APA	Hassani A, Dindarloo MR, Khorambakht R, Bataleblu A, Sadeghi H, Heidari R, Iranfar A, Hasani P, Hojati NS, Khorasani A, Khajeahmadi N, Motaharifar M, Riaziesfahani H, Lashay A, Mohammadi SF, Taghirad HD (2021). Kinematic and Dynamic Analysis of Arash Asist: Toward Micro Positioning. 9th RSI International Conference on Robotics and Mechatronics# ICRoM 2021, (), 59-65.
Chicago	Hassani A, Dindarloo MR, Khorambakht R, Bataleblu A, Sadeghi H, Heidari R, Iranfar A, et al.. "Kinematic and Dynamic Analysis of Arash Asist: Toward Micro Positioning." 9th RSI International Conference on Robotics and Mechatronics# ICRoM 2021 , no. (2021): 59-65.
Harvard	Hassani A et al. (2021) 'Kinematic and Dynamic Analysis of Arash Asist: Toward Micro Positioning', 9th RSI International Conference on Robotics and Mechatronics# ICRoM 2021, (), pp. 59-65.
Vancouver	Hassani A, Dindarloo MR, Khorambakht R, Bataleblu A, Sadeghi H, Heidari R, et al.. Kinematic and Dynamic Analysis of Arash Asist: Toward Micro Positioning. 9th RSI International Conference on Robotics and Mechatronics# ICRoM 2021. 2021;():59-65.
BibTex	@article{ author = {Hassani A and Dindarloo MR and Khorambakht R and Bataleblu A and Sadeghi H and Heidari R and Iranfar A and Hasani P and Hojati NS and Khorasani A and Khajeahmadi N and Motaharifar M and Riaziesfahani H and Lashay A and Mohammadi SF and Taghirad HD}, title = {Kinematic and Dynamic Analysis of Arash Asist: Toward Micro Positioning}, journal = {9th RSI International Conference on Robotics and Mechatronics# ICRoM 2021}, volume = {}, number = {}, pages = {59-65}, year = {2021} }
RIS	TY - JOUR AU - Hassani A AU - Dindarloo MR AU - Khorambakht R AU - Bataleblu A AU - Sadeghi H AU - Heidari R AU - Iranfar A AU - Hasani P AU - Hojati NS AU - Khorasani A AU - Khajeahmadi N AU - Motaharifar M AU - Riaziesfahani H AU - Lashay A AU - Mohammadi SF AU - Taghirad HD TI - Kinematic and Dynamic Analysis of Arash Asist: Toward Micro Positioning JO - 9th RSI International Conference on Robotics and Mechatronics# ICRoM 2021 VL - IS - SP - 59 EP - 65 PY - 2021 ER -

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